Vehicle lighting system, vehicle, inter-vehicle communication system and vehicle system

ABSTRACT

A vehicle lighting system provided in a vehicle includes: a lighting unit configured to emit light toward outside of a vehicle; and a lighting control unit configured to control the lighting unit such that the lighting unit visually presents, to an oncoming vehicle present ahead of the vehicle, predetermined information on traveling support of the oncoming vehicle, based on a vehicle width of the oncoming vehicle and a road width in a lateral region of the vehicle.

TECHNICAL FIELD

The present disclosure relates to a vehicle lighting system, a vehicleand an inter-vehicle communication system.

BACKGROUND ART

Currently, research on an automated driving technology for an automobileis actively carried out in each country, and legislation for allowing avehicle (Hereinafter, the “vehicle” refers to the automobile.) to travelon a public road in an automated driving mode is being studied in eachcountry. Here, in the automated driving mode, a vehicle systemautomatically controls traveling of the vehicle. Specifically, in theautomated driving mode, the vehicle system automatically performs atleast one of steering control (control of a traveling direction of thevehicle), brake control and accelerator control (control of vehiclebraking and acceleration/deceleration) based on information (surroundingenvironment information) indicating a surrounding environment of thevehicle obtained from a sensor such as a camera or a radar (for example,a laser radar or a millimeter wave radar). On the other hand, in amanual driving mode described below, a driver controls the traveling ofthe vehicle, as is a case with many related-art vehicles. Specifically,in the manual driving mode, the traveling of the vehicle is controlledin accordance with an operation of the driver (a steering operation, abrake operation and an accelerator operation), and the vehicle systemdoes not automatically perform the steering control, the brake controland the accelerator control. A driving mode of the vehicle is not aconcept that exists only in some vehicles, but a concept that exists inall vehicles including the related-art vehicles not having an automateddriving function, and is classified according to, for example, a vehiclecontrol method.

Therefore, the vehicle traveling in the automated driving mode(hereinafter, appropriately referred to as an “automated drivingvehicle”) and the vehicle traveling in the manual driving mode(hereinafter, appropriately referred to as a “manual driving vehicle”)are expected to coexist on the public road in the future.

As an example of the automated driving technology, Patent Literature 1discloses an automated following traveling system in which a followingvehicle automatically follows a preceding vehicle. In the automatedfollowing traveling system, each of the preceding vehicle and thefollowing vehicle includes a lighting system, and character informationfor preventing other vehicles from interrupting between the precedingvehicle and the following vehicle is displayed on the lighting system ofthe preceding vehicle, and character information indicating that thefollowing vehicle automatically follows the preceding vehicle isdisplayed on the lighting system of the following vehicle.

CITATION LIST Patent Literature

Patent Literature 1: JP-A-H9-277887

SUMMARY OF INVENTION Technical Problem

Communication between vehicles is expected to be important in order toensure smooth traveling of the vehicles on the road where the automateddriving vehicle and the manual driving vehicle coexist. For example, ina situation where two vehicles facing each other while traveling on anarrow road pass each other, communication between the two vehicles isan important factor in order to ensure smooth traveling of the twovehicles. In this respect, it is conceivable to realize thecommunication between the two vehicles by using a wireless communicationfunction (an inter-vehicle communication function), but thecommunication between the two vehicles using the wireless communicationfunction cannot be realized when one of the two vehicles does not havethe wireless communication function. In this way, in a coming automateddriving society, there is room for further consideration of thecommunication between the vehicles.

Therefore, a first object of the present disclosure is to provide avehicle lighting system and a vehicle capable of realizing rich visualcommunication between vehicles.

Next, in the automated driving society where the automated drivingvehicle travels everywhere in a city, visual communication between thevehicle and a pedestrian or the like present outside the vehicle isexpected to be more important. Particularly, when a message from thevehicle is visually presented to the pedestrian, the pedestrian canvisually recognize an intention or the like of the vehicle, and thus canfeel safe. On the other hand, it is assumed that pedestrian does notnotice the message from the vehicle, or that the pedestrian cannotdetermine whether the message from the vehicle is presented to thepedestrian. In this way, there is room for further consideration of thevisual communication between the vehicle and an object.

Therefore, a second object of the present disclosure is to provide avehicle lighting system and a vehicle capable of realizing rich visualcommunication between a vehicle and an object.

In addition, in the automated driving society where the automateddriving vehicle travels everywhere in the city, the communicationbetween the vehicles is expected to be important in order to ensuresmooth traveling of the vehicle. Particularly, when a message of onevehicle is visually presented to an occupant of the other vehicle, theoccupant of the other vehicle can visually recognize an intention or thelike of the other vehicle, and thus can feel safe. On the other hand, itis assumed that the occupant of the other vehicle does not notice thevisual message from one vehicle, or that the occupant of the othervehicle cannot determine whether the visual message from one vehicle ispresented to the occupant of the other vehicle. In this way, there isroom for further consideration of the visual communication between thevehicles.

Therefore, a third object of the present disclosure is to provide avehicle system, a vehicle and an inter-vehicle communication systemcapable of realizing rich communication between vehicles through visualand auditory sense.

Solution to Problem

A vehicle lighting system according to an aspect of the presentdisclosure is provided in a vehicle capable of traveling in an automateddriving mode, and includes:

a lighting unit configured to emit light toward outside of a vehicle;and

a lighting control unit configured to control the lighting unit suchthat the lighting unit visually presents, to an oncoming vehicle presentahead of the vehicle, predetermined information on traveling support ofthe oncoming vehicle, based on a vehicle width of the oncoming vehicleand a road width in a lateral region of the vehicle.

According to the above configuration, the predetermined information onthe traveling support of the oncoming vehicle is visually presented tothe oncoming vehicle based on the vehicle width of the oncoming vehiclepresent ahead of the vehicle and the road width in the lateral region ofthe vehicle. In this way, since an occupant of the oncoming vehicle canvisually recognize the predetermined information on the travelingsupport of the oncoming vehicle, the vehicle lighting system capable ofrealizing rich visual communication between vehicles can be provided.

The predetermined information may include at least one of characterinformation and graphic information.

According to the above configuration, since the occupant of the oncomingvehicle can visually recognize the predetermined information on thetraveling support of the oncoming vehicle as the character informationand/or the graphic information, the vehicle lighting system capable ofrealizing the rich visual communication between the vehicles can beprovided.

When at least the vehicle width is equal to or greater than the roadwidth, the lighting control unit may control the lighting unit such thatthe lighting unit visually present, to the oncoming vehicle, informationurging the oncoming vehicle to stop.

According to the above configuration, when at least the vehicle width ofthe oncoming vehicle is equal to or greater than the road width in thelateral region of the vehicle, the information urging the oncomingvehicle to stop is visually presented to the oncoming vehicle. In thisway, the occupant of the oncoming vehicle can visually recognize thatthe oncoming vehicle should be stopped in order for the two vehicles topass each other without trouble (such as contact between the twovehicles). Therefore, the vehicle lighting system capable of realizingthe rich visual communication between the vehicles can be provided.

The predetermined information may include the character information.

The lighting control unit is configured to

-   -   determine a display language of the predetermined information        based on a current position of the vehicle, and    -   control the lighting unit such that the lighting unit visually        presents the predetermined information to the oncoming vehicle        in the determined display language.

According to the above configuration, the display language of thepredetermined information is determined based on the current position ofthe vehicle, and then the predetermined information is visuallypresented to the oncoming vehicle in the determined display language. Inthis way, since the display language of the character informationconstituting the predetermined information is associated with thecurrent position of the vehicle, possibility that the occupant of theoncoming vehicle can understand the predetermined information on thetraveling support of the oncoming vehicle can be increased. Therefore,the vehicle lighting system capable of realizing the rich visualcommunication between the vehicles can be provided.

The predetermined information may include the character information.

The lighting unit may be configured to visually present thepredetermined information to the oncoming vehicle in a plurality ofdisplay languages.

According to the above configuration, the predetermined information isvisually presented to the oncoming vehicle in the plurality of displaylanguages. In this way, the possibility that the occupant of theoncoming vehicle can understand the predetermined information on thetraveling support of the oncoming vehicle can be increased. Therefore,the vehicle lighting system capable of realizing the rich visualcommunication between the vehicles can be provided.

The lighting unit may be configured to visually present thepredetermined information on a road surface ahead of the oncomingvehicle.

According to the above configuration, the predetermined information onthe traveling support of the oncoming vehicle is visually presented onthe road surface ahead of the oncoming vehicle. In this way, since theoccupant of the oncoming vehicle can visually recognize thepredetermined information by looking at the road surface ahead, thevehicle lighting system capable of realizing the rich visualcommunication between the vehicles can be provided.

The lighting control unit may be configured to wirelessly transmit thepredetermined information to the oncoming vehicle.

According to the above configuration, the predetermined information onthe traveling support of the oncoming vehicle is visually presented tothe oncoming vehicle and is wirelessly transmitted to the oncomingvehicle. As described above, it is possible to increase the possibilitythat the occupant of the oncoming vehicle having the wirelesscommunication function can recognize predetermined information, and itis possible to provide a vehicle lighting system capable of realizingrich communication between the vehicles.

A vehicle lighting system according to another aspect of the presentdisclosure is provided in a vehicle capable of traveling in an automateddriving mode, and includes:

a first lighting unit configured to visually present a message tooutside of a vehicle;

a first lighting control unit configured to control the first lightingunit;

a second lighting unit configured to emit a light pattern toward anobject present outside the vehicle; and

a second lighting control unit configured to control the second lightingunit.

The second lighting control unit is configured to control the secondlighting unit such that the second lighting unit emits the light patterntoward the object when the first lighting unit visually presents themessage to the outside of the vehicle.

According to the above configuration, when the first lighting unitvisually presents the message to the outside of the vehicle, the secondlighting unit emits the light pattern toward the object. Therefore, theobject (for example, a pedestrian or other vehicles) present outside thevehicle can notice presence of the message presented by the vehicle bythe light pattern emitted from the second lighting unit toward theobject, and can recognize that the message is a message presented fromthe vehicle to the object. In this way, the vehicle lighting systemcapable of realizing rich visual communication between the vehicle andthe object can be provided.

The second lighting unit may be configured to draw the light pattern ona road surface around the object.

The second lighting control unit may be configured to control the secondlighting unit such that the second lighting unit draws the light patternon the road surface around the object when the first lighting unitvisually presents the message to the outside of the vehicle.

According to the above configuration, when the first lighting unitvisually presents the message to the outside of the vehicle, the secondlighting unit draws the light pattern on the road surface around theobject. Therefore, the object present outside the vehicle can notice thepresence of the message presented by the vehicle by the light pattern,and can recognize that the message is a message presented from thevehicle to the object.

The light pattern may be a light pattern that visually associates theobject with the vehicle.

According to the above configuration, when the first lighting unitvisually presents the message to the outside of the vehicle, the lightpattern that visually associates the object with the vehicle is drawn onthe road surface around the object. Therefore, the object presentoutside the vehicle can intuitively recognize that the message ispresented from the vehicle to the object by the light pattern.

The message may be a message related to an action of the vehicle or amessage urging the object to perform a predetermined action.

According to the above configuration, the object present outside thevehicle can recognize an intention of the vehicle and can feel safe bylooking at the message related to the action of the vehicle (forexample, a stop message) or the message urging the object to perform thepredetermined action (for example, a message urging passage of acrosswalk).

A vehicle including the vehicle lighting system is provided.

According to the above configuration, the vehicle capable of realizingrich visual communication can be provided.

A vehicle system according to another aspect of the present disclosureis provided in a vehicle capable of traveling in an automated drivingmode, and includes:

a lighting unit configured to visually present a first message tooutside of a vehicle;

a lighting control unit configured to control the lighting unit;

a light transmission unit configured to emit a first light in a firstwavelength band associated with a predetermined auditory message towarda light reception unit mounted on another vehicle present outside thevehicle; and

a light transmission control unit configured to control the lighttransmission unit.

The light transmission control unit is configured to control the lighttransmission unit such that the light transmission unit emits the firstlight toward the light reception unit when the lighting unit visuallypresents the first message to the outside of the vehicle.

According to the above configuration, when the lighting unit visuallypresents the first message to the outside of the vehicle, the firstlight is emitted toward the light reception unit mounted on anothervehicle. When the light reception unit receives the first light, thepredetermined auditory message associated with the first wavelength bandof the first light is output to inside of another vehicle. Therefore, anoccupant of another vehicle can visually recognize the first messagefrom the vehicle, and can aurally recognize the predetermined auditorymessage from the vehicle. That is, the occupant of another vehicle canvisually and aurally recognize an intention of the vehicle. Therefore,the vehicle system capable of realizing rich communication betweenvehicles through visual and auditory sense can be provided.

The lighting unit may be configured to visually present the firstmessage to the outside of the vehicle by drawing a light pattern on aroad surface.

According to the above configuration, the occupant of another vehiclecan visually recognize the first message from the vehicle by looking atthe light pattern drawn on the road surface.

The lighting unit may be configured to display the first message on awindshield of the vehicle.

According to the above configuration, the occupant of another vehiclecan visually recognize the first message displayed on the windshield.

The lighting unit may be configured to visually present the firstmessage to the outside of the vehicle by changing a lighting feature ofthe lighting unit.

According to the above configuration, the occupant of another vehiclecan visually recognize the first message from the vehicle by looking ata change in the lighting feature of the lighting unit.

The light transmission control unit may be configured to

-   -   determine the first light from a plurality of different lights        in different wavelength bands based on the first message, and    -   control the light transmission unit such that the first light is        emitted toward the light reception unit.

According to the above configuration, the first light is determined fromthe plurality of different lights in different wavelength bands based onthe first message, and then the first light is emitted toward the lightreception unit mounted on another vehicle. When the light reception unitreceives the first light, the predetermined auditory message associatedwith the first wavelength band of the first light is output to inside ofanother vehicle. Thus, the occupant of another vehicle can visuallyrecognize the first message and can aurally recognize the predeterminedauditory message associated with the first message (or corresponding tothe first message).

A vehicle including the vehicle system is provided.

According to the above configuration, the vehicle capable of realizingrich communication between vehicles through visual and auditory sensecan be provided.

An inter-vehicle communication system according to an aspect of thepresent disclosure includes:

a first vehicle; and

a second vehicle.

The first vehicle includes:

-   -   a lighting unit configured to visually present a first message        toward outside of the first vehicle;    -   a lighting control unit configured to control the lighting unit;    -   a light transmission unit configured to emit a first light in a        first wavelength band toward the second vehicle; and    -   a light transmission control unit configured to control the        light transmission unit.

The second vehicle includes:

-   -   a light reception unit configured to receive the first light;    -   a light reception control unit configured to specify a        predetermined auditory message associated with the first        wavelength band from among a plurality of auditory messages; and    -   an in-vehicle speaker configured to output the specified        predetermined auditory message to an occupant of the second        vehicle.

The light transmission control unit is configured to control the lighttransmission unit such that the light transmission unit emits the firstlight toward the light reception unit when the lighting unit visuallypresents the first message to the outside of the first vehicle.

According to the above configuration, when the lighting unit visuallypresents the first message to the outside of the vehicle, the firstlight is emitted toward the light reception unit mounted on the secondvehicle. When the light reception unit receives the first light, thepredetermined auditory message associated with the first wavelength bandof the first light is output from the in-vehicle speaker toward anoccupant of the second vehicle. Therefore, the occupant of the secondvehicle can visually recognize the first message from the first vehicle,and can aurally recognize the predetermined auditory message from thefirst vehicle. That is, the occupant of the second vehicle can visuallyand aurally recognize an intention of the first vehicle. Therefore, theinter-vehicle communication system capable of realizing richcommunication between vehicles through visual and auditory sense can beprovided.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a plan view of a vehicle equipped with a vehicle lightingsystem according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a vehicle system including the vehiclelighting system according to the first embodiment.

FIG. 3 is a flowchart showing an example of processing for visuallypresenting, to an oncoming vehicle, information urging the oncomingvehicle to stop.

FIG. 4 is a view showing a subject vehicle and the oncoming vehicletraveling on a narrow road.

FIG. 5 is a view showing an example of character information forprompting the stop of the oncoming vehicle.

FIG. 6 is a view showing an example of graphic information for promptingthe stop of the oncoming vehicle.

FIG. 7 is a front view of a vehicle equipped with a vehicle lightingsystem according to a second embodiment of the present invention.

FIG. 8 is a block diagram of a vehicle system including the vehiclelighting system according to the second embodiment.

FIG. 9 is a block diagram showing a left communication support lamp anda right communication support lamp.

FIG. 10 is a flowchart showing an example of an operation flow of thevehicle lighting system according to the second embodiment.

FIG. 11 is a view showing how a vehicle emits a light pattern toward apedestrian present in vicinity of a crosswalk.

FIG. 12 is a view showing how the vehicle emits the light pattern towardthe pedestrian present in vicinity of the crosswalk.

FIG. 13A is a view showing the vehicle and the pedestrian stopped beforethe crosswalk.

FIG. 13B is a view showing a lighting state of the left communicationsupport lamp and the right communication support lamp in a situationshown in FIG. 13A.

FIG. 14 is a view showing another example of the light pattern emittedfrom the vehicle.

FIG. 15 is a view showing an example of a message visually presented toa pedestrian from a first lighting unit according to a modification ofthe second embodiment.

FIG. 16 is a view showing another example of a message visuallypresented to the pedestrian from the first lighting unit according tothe modification of the second embodiment.

FIG. 17 is a view showing how the vehicle emits a light pattern towardthe other vehicle about to turn right.

FIG. 18 is a view showing an example of a message visually presentedfrom the first lighting unit to the other vehicle according to themodification of the second embodiment.

FIG. 19A is a front view of a vehicle equipped with a vehicle systemaccording to a third embodiment of the present invention.

FIG. 19B is a rear view of the vehicle.

FIG. 20 is a block diagram of the vehicle system according to the thirdembodiment.

FIG. 21 is a sequence diagram showing an example of operation of aninter-vehicle communication system according to the third embodiment.

FIG. 22 is a view showing a transmission side vehicle drawing a lightpattern on a road surface corresponding to a parking section, and areception side vehicle traveling on a parking lot.

FIG. 23 is a view showing a transmission side vehicle and the receptionside vehicle about to leave the parking section.

FIG. 24 is a front view of a vehicle equipped with a lighting unitaccording to a first modification of the third embodiment.

FIG. 25 is a front view of a vehicle equipped with a lighting unitaccording to a second modification of the third embodiment.

DESCRIPTION OF EMBODIMENTS First Embodiment

Hereinafter, a first embodiment of the present invention will bedescribed with reference to the drawings. Description of members havingthe same reference numerals as those already described in thedescription of the present embodiment will be omitted for convenience ofdescription. Dimensions of members shown in the drawings may bedifferent from those of actual members for convenience of description.

In the description of the embodiment, a “left-right direction”, a“front-rear direction” and an “upper-lower direction” will beappropriately referred to for convenience of description. Thesedirections are relative directions set for a vehicle 1 shown in FIG. 1.Here, the “front-rear direction” is a direction including a “frontdirection” and a “rear direction”. The “left-right direction” is adirection including a “left direction” and a “right direction”. The“upper-lower direction” is a direction including an “upper direction”and a “lower direction”. though not shown in FIG. 1, the upper-lowerdirection is the direction orthogonal to the left-right direction andthe front-rear direction.

First, a vehicle lighting system 4 (hereinafter, simply referred to as“lighting system 4”) according to the present embodiment will bedescribed below with reference to FIGS. 1 and 2. FIG. 1 is a plan viewof a vehicle 1 equipped with the lighting system 4. The vehicle 1 is avehicle (an automobile) capable of traveling in an automated drivingmode, and includes the lighting system 4. The lighting system 4 includesa lighting unit 42 and a lighting control unit 43 (see FIG. 2). Thelighting unit 42 is disposed on a vehicle body roof 110A of the vehicle1, for example, and is configured to emit a light pattern (particularly,a light pattern formed on a road surface by laser light) toward outsideof the vehicle 1.

The lighting unit 42 includes, for example, a laser light sourceconfigured to emit laser light, a light deflection device configured todeflect the laser light emitted from the laser light source, and anoptical system such as a lens. The laser light source is, for example,an RGB laser light source configured to emit red laser light, greenlaser light and blue laser light. The light deflection device is, forexample, a micro electro mechanical systems (MEMS) mirror, agalvanometer mirror, a polygon mirror or the like. As will be describedbelow, the lighting unit 42 visually presents the light pattern (forexample, a light pattern M1 indicating character information shown inFIG. 5 or a light pattern M2 indicating graphic information shown inFIG. 6) to other vehicles (particularly, an oncoming vehicle) byscanning with the laser light. Particularly, the lighting unit 42visually presents the light pattern on the road surface ahead of theoncoming vehicle by scanning with the laser light. When the laser lightsource is the RGB laser light source, the lighting system 4 can draw thelight pattern of various colors on a road.

Although a single lighting unit 42 is disposed on the vehicle body roof110A in the present embodiment, the number, arrangement, shape and thelike of the lighting unit 42 are not particularly limited as long as thelighting unit 42 can emit the light pattern toward an object. Forexample, when two lighting units 42 are provided, one of the twolighting units 42 may be mounted in a left headlamp 20L, and the othermay be mounted in a right headlamp 20R. When four lighting units 42 areprovided, one lighting unit 42 may be mounted in each of the leftheadlamp 20L, the right headlamp 20R, a left rear combination lamp 30Land a right rear combination lamp 30R. A drawing method of the lightingunit 42 may be a digital light processing (DLP) method or a liquidcrystal on silicon (LCOS) method. In this case, an LED is used as alight source instead of laser.

Next, a vehicle system 2 of the vehicle 1 will be described withreference to FIG. 2. FIG. 2 shows a block diagram of the vehicle system2. As shown in FIG. 2, the vehicle system 2 includes a vehicle controlunit 3, the lighting system 4, a sensor 5, a camera 6, a radar 7, ahuman machine interface (HMI) 8, a global positioning system (GPS) 9, awireless communication unit 10 and a storage device 11. The vehiclesystem 2 further includes a steering actuator 12, a steering device 13,a brake actuator 14, a brake device 15, an accelerator actuator 16 andan accelerator device 17.

The vehicle control unit 3 is configured to control traveling of thevehicle 1. The vehicle control unit 3 is formed of, for example, atleast one electronic control unit (ECU). The electronic control unitincludes a computer system (for example, a system on a chip (SoC))including one or more processors and one or more memories, and anelectronic circuit including an active element such as a transistor anda passive element. The processor is, for example, a central processingunit (CPU), a micro processing unit (MPU), a graphics processing unit(GPU) and/or a tensor processing unit (TPU). The CPU may include aplurality of CPU cores. The GPU may include a plurality of GPU cores.The memory includes a read only memory (ROM) and a random access memory(RAM). The ROM may store a vehicle control program. For example, thevehicle control program may include an artificial intelligence (AI)program for automated driving. The AI program is a program constructedby supervised or unsupervised machine learning (particularly, deeplearning) using a multilayer neural network. The RAM may temporarilystore a vehicle control program, vehicle control data and/or surroundingenvironment information indicating surrounding environment of thevehicle. The processor may be configured to load a program designatedfrom various vehicle control programs stored in the ROM onto the RAM andto execute various types of processing in cooperation with the RAM. Thecomputer system may include a non-Neumann type computer such as anapplication specific integrated circuit (ASIC) or a field-programmablegate array (FPGA). Further, the computer system may include acombination of a Neumann type computer and a non-Neumann type computer.

The lighting system 4 is configured to emit the laser light (the lightpattern) toward the outside of the vehicle 1 (for example, othervehicles), and includes the lighting unit 42 and the lighting controlunit 43. The lighting control unit 43 is configured to control drivingof the lighting unit 42, and is formed of an electronic control unit(ECU). The electronic control unit includes a computer system (forexample, an SoC) including one or more processors and one or morememories, a laser light source control circuit (an analog processingcircuit) configured to control driving of the laser light source of thelighting unit 42, and an light deflection device control circuit (ananalog processing circuit) configured to control driving of the lightdeflection device of the lighting unit 42. The processor is, forexample, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROMand a RAM. The computer system may include a non-Neumann type computersuch as an ASIC or an FPGA. In the present embodiment, the vehiclecontrol unit 3 and the lighting control unit 43 are provided as separatecomponents, but the vehicle control unit 3 and the lighting control unit43 may be integrally configured. In this respect, the lighting controlunit 43 and the vehicle control unit 3 may be formed of a singleelectronic control unit.

For example, the computer system of the lighting control unit 43specifies the light pattern to be emitted to the outside of the vehicle1 based on an instruction signal transmitted from the vehicle controlunit 3, and then transmits a signal indicating the specified lightpattern to the laser light source control circuit and the lightdeflection device control circuit. The laser light source controlcircuit generates a control signal for controlling the driving of thelaser light source based on the signal indicating the light pattern, andthen transmits the generated control signal to the laser light source ofthe lighting unit 42. On the other hand, the light deflection devicecontrol circuit generates a control signal for controlling the drivingof the light deflection device based on the signal indicating the lightpattern, and transmits the generated control signal to the lightdeflection device of the lighting unit 42. In this way, the lightingcontrol unit 43 can control the driving of the lighting unit 42.

The sensor 5 includes an acceleration sensor, a speed sensor, a gyrosensor and the like. The sensor 5 is configured to detect a travelingstate of the vehicle 1 and output traveling state information to thevehicle control unit 3. The sensor 5 may further include a seatingsensor that detects whether a driver is seated in a driver seat, a facedirection sensor that detects a direction of a face of the driver, anexternal weather sensor that detects an external weather condition, ahuman sensor that detects whether there is a person in the vehicle, orthe like.

The camera 6 is, for example, a camera including an image sensor such asa charge-coupled device (CCD) or a complementary MOS (CMOS). The camera6 may be mounted in the left headlamp 20L and the right headlamp 20R.For example, as shown in FIG. 1, the camera 6 may include a left frontcamera 60L mounted in the left headlamp 20L and configured to image afront region of the vehicle 1, and a left lateral camera 62L mounted inthe left headlamp 20L and configured to image a lateral region of thevehicle 1. The camera 6 may further include a right front camera 60Rmounted in the right headlamp 20R and configured to image a front regionof the vehicle 1, and a right lateral camera 62R mounted in the rightheadlamp 20R and configured to image a lateral region of the vehicle 1.

The radar 7 is, for example, a millimeter wave radar, a microwave radarand/or a laser radar (for example, a Lidar). The camera 6 and/or theradar 7 are configured to detect the surrounding environment of thevehicle 1 (other vehicles, pedestrians, road shapes, traffic signs,obstacles and the like) and output the surrounding environmentinformation indicating the surrounding environment of the vehicle 1 tothe vehicle control unit 3.

The HMI 8 includes an input unit that receives an input operation from adriver, and an output unit that outputs traveling information and thelike to the driver. The input unit includes a steering wheel, anaccelerator pedal, a brake pedal, a driving mode switching switch thatswitches a driving mode of the vehicle 1, and the like. The output unitis a display that displays various types of traveling information. TheGPS 9 is configured to acquire current position information of thevehicle 1 and output the acquired current position information to thevehicle control unit 3.

The wireless communication unit 10 is configured to receive informationon other vehicles around the vehicle 1 (for example, travelinginformation) from other vehicles and to transmit information (forexample, traveling information) on the vehicle 1 to other vehicles(inter-vehicle communication). The wireless communication unit 10 isconfigured to receive infrastructure information from infrastructureequipment such as a traffic light or a sign lamp and to transmit thetraveling information on the vehicle 1 to the infrastructure equipment(road-vehicle communication). The wireless communication unit 10 isconfigured to receive information on a pedestrian from a portableelectronic device (a smart phone, a tablet, a wearable device or thelike) carried by the pedestrian and to transmit the subject vehicletraveling information on the vehicle 1 to the portable electronic device(pedestrian-vehicle communication). The vehicle 1 may directlycommunicate with other vehicles, the infrastructure equipment or theportable electronic device in an ad hoc mode, or may communicate via anaccess point. The vehicle 1 may communicate with other vehicles, theinfrastructure equipment or the portable electronic device via acommunication network such as the Internet (not shown). A wirelesscommunication standard is, for example, Wi-Fi (registered trademark),Bluetooth (registered trademark), ZigBee (registered trademark), IPWA,DSRC (registered trademark) or Li-Fi. The vehicle 1 may communicate withother vehicles, the infrastructure equipment or the portable electronicdevice using a fifth generation mobile communication system (5G).

The storage device 11 is an external storage device such as a hard diskdrive (HDD) or a solid state drive (SSD). The storage device 11 maystore 2D or 3D map information and/or a vehicle control program. Forexample, the 3D map information may include point cloud data. Thestorage device 11 is configured to output the map information and thevehicle control program to the vehicle control unit 3 in response to arequest from the vehicle control unit 3. The map information and thevehicle control program may be updated via the wireless communicationunit 10 and a communication network such as the Internet.

When the vehicle 1 travels in the automated driving mode, the vehiclecontrol unit 3 automatically generates at least one of the steeringcontrol signal, the accelerator control signal and the brake controlsignal based on the traveling state information, the surroundingenvironment information, the current position information, the mapinformation and the like. The steering actuator 12 is configured toreceive the steering control signal from the vehicle control unit 3 andto control the steering device 13 based on the received steering controlsignal. The brake actuator 14 is configured to receive the brake controlsignal from the vehicle control unit 3 and to control the brake device15 based on the received brake control signal. The accelerator actuator16 is configured to receive the accelerator control signal from thevehicle control unit 3 and to control the accelerator device 17 based onthe received accelerator control signal. In this way, in the automateddriving mode, the traveling of the vehicle 1 is automatically controlledby the vehicle system 2.

On the other hand, when the vehicle 1 travels in a manual driving mode,the vehicle control unit 3 generates the steering control signal, theaccelerator control signal and the brake control signal according to amanual operation of the driver on the accelerator pedal, the brake pedaland the steering wheel. In this way, in the manual driving mode, sincethe steering control signal, the accelerator control signal and thebrake control signal are generated by the manual operation of thedriver, the traveling of the vehicle 1 is controlled by the driver.

Next, a driving mode of the vehicle 1 will be described. The drivingmode includes the automated driving mode and the manual driving mode.The automated driving mode includes a fully automated driving mode, anadvanced driving support mode and a driving support mode. In the fullyautomated driving mode, the vehicle system 2 automatically performs alltraveling control including steering control, brake control andaccelerator control, and the driver cannot drive the vehicle 1. In theadvanced driving support mode, the vehicle system 2 automaticallyperforms all the traveling control including the steering control, thebrake control and the accelerator control, and the driver can drive thevehicle 1 but does not drive the vehicle 1. In the driving support mode,the vehicle system 2 automatically performs a part of the travelingcontrol including the steering control, the brake control and theaccelerator control, and the driver drives the vehicle 1 under drivingsupport of the vehicle system 2. On the other hand, in the manualdriving mode, the vehicle system 2 does not automatically perform thetraveling control, and the driver drives the vehicle 1 without thedriving support of the vehicle system 2.

The driving mode of the vehicle 1 may be switched by operating thedriving mode switching switch. In this case, the vehicle control unit 3switches the driving mode of the vehicle 1 among four driving modes (thefully automated driving mode, the advanced driving support mode, thedriving support mode and the manual driving mode) according to anoperation of the driver on the driving mode switching switch. Thedriving mode of the vehicle 1 may be automatically switched based oninformation on a travelable section where an automated driving vehiclecan travel or a traveling-prohibited section where traveling of theautomated driving vehicle is prohibited, or information on the externalweather condition. In this case, the vehicle control unit 3 switches thedriving mode of the vehicle 1 based on these pieces of information. Thedriving mode of the vehicle 1 may be automatically switched by using theseating sensor, the face direction sensor or the like. In this case, thevehicle control unit 3 switches the driving mode of the vehicle 1 basedon a signal output from the seating sensor or the face direction sensor.

Next, an example of a control method of the lighting system 4 accordingto the present embodiment will be described below with reference toFIGS. 3 and 4. FIG. 3 is a flowchart showing an example of processingfor visually presenting, to an oncoming vehicle 1A, information urgingthe oncoming vehicle 1A to stop. FIG. 4 is a view showing the vehicle 1(the subject vehicle) and the oncoming vehicle 1A traveling on a narrowroad R. In the present description, the vehicle 1 is traveling in theautomated driving mode. The oncoming vehicle 1A may be a manual drivingvehicle or an automated driving vehicle.

As shown in FIG. 3, first, the vehicle control unit 3 of the vehicle 1detects the oncoming vehicle 1A present in the front region the vehicle1 based on image data acquired from the camera 6 and/or detection data(for example, point cloud data) acquired from the radar 7 (step S1).Next, in step S2, the vehicle control unit 3 specifies a vehicle widthw1 (see FIG. 4) of the oncoming vehicle 1A based on the image dataacquired from the camera 6 (particularly, the left front camera 60L andthe right front camera 60R) and/or the detection data acquired from theradar 7. Here, the vehicle width w1 of the oncoming vehicle 1A may bedefined as a distance from a left end to a right end of the oncomingvehicle 1A. Particularly, when the oncoming vehicle 1A includes sidemirrors, the vehicle width w1 of the oncoming vehicle 1A may be definedas a distance from an end portion of the left side mirror of theoncoming vehicle 1A to an end portion of the right side mirror of theoncoming vehicle 1A.

Next, in step S3, the vehicle control unit 3 specifies a road width w2in a right lateral region of the vehicle 1 (the subject vehicle) basedon the image data acquired from the camera 6 (particularly, the rightlateral camera 62R on an oncoming vehicle side) and/or the detectiondata acquired from the radar 7. Here, the road width w2 in the rightlateral region may be defined as a distance from a right end of thevehicle 1 (an end portion of the right side mirror when the vehicle 1includes side mirrors) to a right guardrail G1. When no guardrail isinstalled on the road R, the road width w2 may be defined as a distancefrom the right end of the vehicle 1 to an obstacle (for example, a fenceof a private house or a utility pole).

Next, in step S4, the vehicle control unit 3 determines whether thevehicle width w1 of the oncoming vehicle 1A is equal to or greater thanthe road width w2 in the right lateral region of the vehicle 1. When thevehicle control unit 3 determines that the vehicle width w1 is smallerthan the road width w2 (NO in step S4), the processing ends. On theother hand, when the vehicle control unit 3 determines that the vehiclewidth w1 is equal to or greater than the road width w2 (YES in step S4),the processing in step S5 is executed.

Next, in step S5, the lighting unit 42 emits laser light toward theoncoming vehicle 1A to visually present, to the oncoming vehicle 1A, theinformation (a light pattern) urging the oncoming vehicle 1A to stop.Particularly, the lighting unit 42 draws the information (the lightpattern) urging the oncoming vehicle 1A to stop on a road surface aheadof the oncoming vehicle 1A by emitting the laser light onto the roadsurface ahead of the oncoming vehicle 1A. The information urging theoncoming vehicle 1A to stop may include at least one of the characterinformation and the graphic information. For example, as shown in FIG.5, the lighting unit 42 may draw the light pattern M1 indicating thecharacter information “Passage prohibited” on the road surface ahead ofthe oncoming vehicle 1A as the information urging the oncoming vehicle1A to stop. As shown in FIG. 6, the lighting unit 42 may draw the lightpattern M2 indicating a stop line (an example of the graphicinformation) on the road surface ahead of the oncoming vehicle 1A as theinformation urging the oncoming vehicle 1A to stop. The graphicinformation and the character information urging the oncoming vehicle 1Ato stop are not limited to examples shown in FIGS. 5 and 6.

Specifically describing the processing in step S5, first, whendetermining that the vehicle width w1 is equal to or greater than theroad width w2, the vehicle control unit 3 generates an instructionsignal instructing emission of a predetermined light pattern urging theoncoming vehicle 1A to stop, and then transmits the instruction signaland position information of the oncoming vehicle 1A to the lightingcontrol unit 43. Next, according to the instruction signal received fromthe vehicle control unit 3, the lighting control unit 43 controls thelighting unit 42 such that the predetermined light pattern urging theoncoming vehicle 1A to stop is drawn on the road surface ahead of theoncoming vehicle 1A. Particularly, the light deflection device of thelighting unit 42 scans the road surface ahead of the oncoming vehicle 1Awith the laser light emitted from the laser light source. As a result,the predetermined light pattern is drawn on the road surface ahead ofthe oncoming vehicle 1A.

According to the present embodiment, based on the vehicle width w1 ofthe oncoming vehicle 1 present ahead of the vehicle 1 and the road widthw2 in the right lateral region of the vehicle 1, the information urgingthe oncoming vehicle 1A to stop is visually presented on the roadsurface ahead of the oncoming vehicle 1A as information on travelingsupport of the oncoming vehicle 1A. In this way, since an occupant ofthe oncoming vehicle 1A can visually recognize the information urgingthe oncoming vehicle 1A to stop, the lighting system 4 capable ofrealizing rich visual communication between vehicles can be provided.

Particularly, according to the present embodiment, when the vehiclewidth w1 of the oncoming vehicle 1A is equal to or greater than the roadwidth w2, the information urging the oncoming vehicle 1A to stop isvisually presented to the oncoming vehicle 1A. In this way, the occupantof the oncoming vehicle 1A can recognize that the oncoming vehicle 1Ashould be stopped in order for the two vehicles to pass each otherwithout trouble (such as contact between the two vehicles). Therefore,in a situation where it is difficult for the two vehicles to pass eachother, the rich visual communication between the vehicles can berealized.

The vehicle 1 may increase the road width w2 such that the vehicle widthw1 of the oncoming vehicle 1A is smaller than the road width w2 byvisually presenting, to the oncoming vehicle 1A, the information urgingthe oncoming vehicle 1 A to stop, and then narrowing a distance betweena left end of the vehicle 1 and a left guardrail G2. Then, when thevehicle control unit 3 determines that the vehicle width w1 is smallerthan the road width w2, the vehicle 1 may pass the oncoming vehicle 1A.On the other hand, when the vehicle control unit 3 determines that it isdifficult for the vehicle 1 and the oncoming vehicle 1A to pass eachother even if the road width w2 is increased by narrowing the distancebetween the left end of the vehicle 1 and the left guardrail G2, thevehicle 1 may be moved backward to a predetermined retreat position.

In the description of the present embodiment, the processing in step S4is executed by the vehicle control unit 3, but the processing in step S4may be executed by the lighting control unit 43. In this case, thevehicle control unit 3 may transmit information on the vehicle width w1of the oncoming vehicle 1A and information on the road width w2 to thelighting control unit 43. In the processing in step S4, it is determinedwhether the vehicle width w1 of the oncoming vehicle 1A is equal to orgreater than the road width w2, but the present embodiment is notlimited thereto. For example, it may be determined whether a value(w1+α) obtained by adding a predetermined margin a to the vehicle widthw1 is equal to or greater than the road width w2. Here, the margin a maybe appropriately set according to conditions such as road environment, avehicle type and/or the automated driving mode.

In the present embodiment, although the lighting system 4 visuallypresents, to the oncoming vehicle 1A, the information urging theoncoming vehicle 1A to stop, the lighting system 4 may visually present,to the oncoming vehicle 1A, the information on the traveling support ofthe oncoming vehicle 1A other than the information urging the oncomingvehicle 1A to stop. For example, the lighting system 4 may present, tothe oncoming vehicle 1A, information indicating difficulty degree of thevehicle 1 and the oncoming vehicle 1A passing each other. As an exampleof the information indicating the difficulty degree of the vehicle 1 andthe oncoming vehicle 1A passing each other, the graphic informationindicating a plurality of stars may be drawn on the road surface. Forexample, when the difficulty degree of passing each other is thehighest, five filled star marks may be drawn on the road surface. Incontract, when the difficulty degree of passing each other is thelowest, four white star marks and one filled star mark may be drawn onthe road surface. The lighting system 4 may draw numerical informationindicating the vehicle width w1 of the oncoming vehicle 1A on the roadsurface together with the information urging the oncoming vehicle 1A tostop. The lighting system 4 may draw numerical information (w1+α)obtained by adding the predetermined margin a to the vehicle width w1 ofthe oncoming vehicle 1A on the road surface.

In step S5, the lighting control unit 43 may determine a displaylanguage of the character information on the traveling support of theoncoming vehicle 1A (including the character information urging theoncoming vehicle 1A to stop) based on the information on a currentposition of the vehicle 1 acquired from the GPS 9 . Then, the lightingcontrol unit 43 may control the lighting unit 42 such that the characterinformation on the traveling support of the oncoming vehicle 1A isvisually presented to the oncoming vehicle 1A in the determined displaylanguage. For example, when the vehicle 1 is located in Japan, a lightpattern indicating “Passage prohibited” (Japanese) may be drawn on theroad surface as the character information urging the oncoming vehicle 1Ato stop. When the vehicle 1 is located in an English-speaking area, alight pattern indicating “No traffic” (English) may be drawn on the roadsurface. When the vehicle 1 is located in a French-speaking area, alight pattern indicating “Pas de trafic” (French) may be drawn on theroad surface. In this case, laser drawing data of the light patternindicating the character information urging the oncoming vehicle to stopfor each display language may be stored in the memory of the lightingcontrol unit 43.

In this way, the display language of the character information on thetraveling support of the oncoming vehicle 1A is determined based on thecurrent position of the vehicle 1, and then the character information isvisually presented to the oncoming vehicle 1A in the determined displaylanguage. Therefore, since the display language of the characterinformation is associated with the current position of the vehicle 1,possibility that the occupant of the oncoming vehicle 1A can understandthe character information visually presented by the vehicle 1 can beincreased, and thus the rich visual communication between the vehiclescan be realized.

In step S5, the lighting unit 42 may visually present, to the oncomingvehicle 1A, the character information on the traveling support of theoncoming vehicle 1A in a plurality of display languages. For example,when the vehicle 1 is located in Japan, the lighting unit 42 first drawsthe light pattern indicating “Passage prohibited” (Japanese) on the roadsurface as the character information urging the oncoming vehicle 1A tostop. Then, after a predetermined period of time has elapsed, thelighting unit 42 may draw the light pattern indicating “No traffic”(English) on the road surface as the character information urging theoncoming vehicle 1A to stop. The character information indicated by theplurality of display languages may be switched in a predetermined cycle,or the character information indicated by the plurality of displaylanguages may be simultaneously displayed on the road surface.

In this way, since the character information on the traveling support ofthe oncoming vehicle 1A is visually presented to the oncoming vehicle 1Ain the plurality of display languages, the possibility that the occupantof the oncoming vehicle 1A can understand the character information onthe traveling support of the oncoming vehicle can be increased.Particularly, in a case of a region where a plurality of languages isused, it is preferable that the character information on the travelingsupport of the oncoming vehicle 1A is visually presented in theplurality of display languages.

When the oncoming vehicle 1A has a wireless communication function, instep S5, the lighting control unit 43 or the vehicle control unit 3wirelessly transmits, to the oncoming vehicle 1A, the information on thetraveling support of the oncoming vehicle 1A (including the informationurging the oncoming vehicle 1A to stop) via the wireless communicationunit 10. In this case, the vehicle 1 may transmit the informationdirectly to the oncoming vehicle 1A in the ad hoc mode, or may transmitthe information to the oncoming vehicle 1A via the access point. Thevehicle 1 may transmit the information to a server present on thecommunication network via the communication network such as theInternet. In this case, the oncoming vehicle 1A may acquire the aboveinformation transmitted from the vehicle 1 by regularly accessing theserver. The oncoming vehicle 1A may visually or audibly present theinformation transmitted from the vehicle 1 to the occupant of theoncoming vehicle 1A. Specifically, a display device installed inside theoncoming vehicle 1A may display the information transmitted from thevehicle 1. The in-vehicle speaker installed inside the oncoming vehicle1A may output the information transmitted from the vehicle 1 as voiceguidance.

In this way, since the information on the traveling support of theoncoming vehicle 1A is visually presented to the oncoming vehicle 1A andthe information is wirelessly transmitted to the oncoming vehicle 1A,the possibility that the occupant of the oncoming vehicle 1A having thewireless communication function can recognize the information can beincreased. Therefore, the rich communication between the vehicles can berealized.

In the present embodiment, the light pattern is drawn on the roadsurface ahead of the oncoming vehicle 1A as the information on thetraveling support of the oncoming vehicle 1A (including the informationurging the oncoming vehicle 1A to stop), but the present embodiment isnot limited thereto. For example, the light pattern may be drawn on apart (for example, a windshield) of a vehicle body of the oncomingvehicle 1A. In this case, the windshield of the oncoming vehicle 1A is awindshield for a head-up display (HUD), and may include a light emittinglayer formed of two glass plates and a phosphor material providedbetween the two glass plates. The laser light source of the lightingunit 42 may be configured to emit laser light in a short wavelength band(for example, a wavelength λ=350 nm to 410 nm). When the windshield ofthe oncoming vehicle 1A is irradiated with the laser light in the shortwavelength band, the light emitting layer of the windshield emits lightand a predetermined light pattern is formed on the windshield.

Second Embodiment

Next, a second embodiment of the present invention will be describedwith reference to the drawings. Description of members having the samereference numerals as those already described in the description of thepresent embodiment will be omitted for convenience of description.Dimensions of members shown in the drawings may be different from thoseof actual members for convenience of description.

In the description of this embodiment, a “left-right direction”, an“upper-lower direction” and a “front-rear direction” will beappropriately referred to for convenience of description. Thesedirections are relative directions set for a vehicle 100 shown in FIG.7. Here, the “left-right direction” is a direction including a “leftdirection” and a “right direction”. The “upper-lower direction” is adirection including an “upper direction” and a “lower direction”. The“front-rear direction” is a direction including a “front direction” anda “rear direction”. Although not shown in FIG. 7, the front-reardirection is the direction orthogonal to the left-right direction andthe upper-lower direction.

First, a vehicle lighting system 104 (hereinafter, simply referred to as“lighting system 104”) according to the present embodiment will bedescribed below with reference to FIGS. 7 and 8. FIG. 7 is a front viewof the vehicle 100 equipped with the lighting system 104. FIG. 8 is ablock diagram of a vehicle system 102 including the lighting system 104.The vehicle 100 is a vehicle (an automobile) capable of traveling in anautomated driving mode, and includes the vehicle system 102.

As shown in FIGS. 7 and 8, the lighting system 104 includes a firstlighting unit 144, a second lighting unit 142, a first lighting controlunit 147 and a second lighting control unit 145. The first lighting unit144 is a lamp that supports visual communication between an object suchas the pedestrian or other vehicles and the vehicle 100, and isconfigured to visually present a message to outside of the vehicle 100.The first lighting unit 144 includes a left communication support lamp140L (hereinafter, simply referred to as a “left CSL 140L”) and a rightcommunication support lamp 140R (hereinafter, simply referred to as a“right CSL 140R”).

The left CSL 140L is configured to emit light toward the outside of thevehicle 100, and is disposed in a lamp chamber of a left headlamp 120Lmounted on a left front side of the vehicle 100 so as to be visible fromahead of the vehicle 100. The lamp chamber of the left headlamp 120L isformed by a lamp housing (not shown) and a translucent cover (not shown)connected to the lamp housing. The left CSL 140L is disposed so as toextend in the left-right direction of the vehicle 100, and includes sixlight emitting segments 143L. The six light emitting segments 143L arearranged side by side in the left-right direction of the vehicle 100.Particularly, as shown in FIG. 9, each light emitting segment 143Lincludes a red LED 400 a configured to emit red light, a green LED 400 bconfigured to emit green light and a blue LED 400 c configured to emitblue light. Hereinafter, the red LED 400 a, the green LED 400 b and theblue LED 400 c may be collectively referred to simply as a LED 400 forconvenience of description. The left headlamp 120L includes a low beamlamp 160L configured to emit a low beam toward ahead of the vehicle 100,and a high beam lamp 170L configured to emit a high beam toward ahead ofthe vehicle 100.

The right CSL 140R is configured to emit light toward the outside of thevehicle 100, and is disposed in a lamp chamber of a right headlamp 120Rmounted on a right front side of the vehicle 100 so as to be visiblefrom ahead of the vehicle 100. The lamp chamber of the right headlamp120R is formed by a lamp housing (not shown) and a translucent cover(not shown) connected to the lamp housing. The right CSL 140R isdisposed so as to extend in the left-right direction of the vehicle 100,and includes six light emitting segments 143R. The six light emittingsegments 143R are arranged side by side in the left-right direction ofthe vehicle 100. Each light emitting segment 143R includes a red LED 400a, a green LED 400 b and a blue LED 400 c (see FIG. 9). The rightheadlamp 120R includes a low beam lamp 160R configured to emit a lowbeam toward ahead of the vehicle 100, and a high beam lamp 170Rconfigured to emit a high beam toward ahead of the vehicle 100.

Arrangement positions of the left CSL 140L and the right CSL 140R arenot particularly limited as long as they are visible from ahead of thevehicle 100. For example, the left CSL 140L may be disposed in a regionoutside the left headlamp 120L (for example, in vicinity of the leftheadlamp 120L), or may be disposed on a grille 140 of the vehicle 100.The right CSL 140R may be disposed in a region outside the rightheadlamp 120R (for example, in vicinity of the right headlamp 120R), ormay be disposed on the grille 140. In the present embodiment, the leftCSL 140L includes six light emitting segments 143L, but the number ofthe light emitting segments 143L is not particularly limited. Similarly,the right CSL 140R includes six light emitting segments 143R, but thenumber of the light emitting segments 143R is not particularly limited.

The second lighting unit 142 is disposed on a vehicle body roof 160 ofthe vehicle 100, for example, and is configured to emit a light pattern(particularly, a light pattern formed on a road surface by laser light)toward the outside of the vehicle 100 (particularly, the object presentoutside the vehicle 100). The second lighting unit 142 includes, forexample, a laser light source configured to emit the laser light, alight deflection device configured to deflect the laser light emittedfrom the laser light source, and an optical system member such as alens. The laser light source is, for example, an RGB laser light sourceconfigured to emit red laser light, green laser light and blue laserlight. The light deflection device is, for example, a MEMS mirror, agalvanometer mirror, a polygon mirror or the like. As will be describedbelow, the second lighting unit 142 visually presents the light patternto the object by scanning with the laser light. Particularly, the secondlighting unit 142 draws the light pattern on the road surface around theobject by scanning with the laser light. When the laser light source isthe RGB laser light source, the second lighting unit 142 can draw thelight pattern of various colors on a road.

Although a single second lighting unit 142 is disposed on the vehiclebody roof 160 in the present embodiment, the number, arrangement, shapeand the like of the second lighting unit 142 are not particularlylimited as long as the second lighting unit 142 can emit the lightpattern toward the object. For example, when two second lighting units142 are provided, one of the two second lighting units 142 may bemounted in the left headlamp 120L and the other may be mounted in theright headlamp 120R. When four second lighting units 142 are provided,one second lighting unit 142 may be mounted in each of the left headlamp120L, the right headlamp 120R, a left rear combination lamp (not shown)and a right rear combination lamp (not shown). A drawing method of thesecond lighting unit 142 may be a DLP method or an LCOS method. In thiscase, an LED is used as a light source instead of laser.

Next, the vehicle system 102 of the vehicle 100 will be described withreference to FIG. 8. FIG. 8 shows a block diagram of the vehicle system102. As shown in FIG. 8, the vehicle system 102 includes a vehiclecontrol unit 103, the lighting system 104, the sensor 5, the camera 6,the radar 7, the HMI 8, the GPS 9, the wireless communication unit 10and the storage device 11. The vehicle system 102 further includes thesteering actuator 12, the steering device 13, the brake actuator 14, thebrake device 15, the accelerator actuator 16 and the accelerator device17.

The vehicle control unit 103 is configured to control traveling of thevehicle 100. The vehicle control unit 103 is formed of, for example, atleast one electronic control unit (ECU). The electronic control unitincludes a computer system (for example, a SoC) including one or moreprocessors and one or more memories, and an electronic circuit includingan active element such as a transistor and a passive element. Theprocessor is, for example, a CPU, an MPU, a GPU and/or a TPU. The CPUmay include a plurality of CPU cores. The GPU may include a plurality ofGPU cores. The memory includes a ROM and a RAM. The ROM may store avehicle control program. For example, the vehicle control program mayinclude an artificial intelligence (AI) program for automated driving.The AI program is a program constructed by supervised or unsupervisedmachine learning (particularly, deep learning) using a multilayer neuralnetwork. The RAM may temporarily store a vehicle control program,vehicle control data and/or surrounding environment informationindicating surrounding environment of the vehicle. The processor may beconfigured to load a program designated from various vehicle controlprograms stored in the ROM onto the RAM and to execute various types ofprocessing in cooperation with the RAM. The computer system may includea non-Neumann type computer such as an ASIC or an FPGA. Further, thecomputer system may include a combination of a Neumann type computer anda non-Neumann type computer.

As described above, the lighting system 104 includes the first lightingunit 144, the second lighting unit 142, the first lighting control unit147 and the second lighting control unit 145. The first lighting controlunit 147 is configured to control the first lighting unit 144(particularly, the left CSL 140L and the right CSL 140R). Particularly,the first lighting control unit 147 is configured to change a lightingstate (for example, lighting color, lighting intensity, blinking cycle,lighting spot and lighting area) of the left CSL 140L and the right CSL140R.

The first lighting control unit 147 is formed of an electronic controlunit (ECU), and is electrically connected to a power supply (not shown).The electronic control unit includes a computer system (for example, aSoC) including one or more processors and one or more memories, and ananalog processing circuit including an active element such as atransistor and a passive element. The processor is, for example, a CPU,an MPU, a GPU and/or a TPU. The memory includes a ROM and a RAM. Thecomputer system may include a non-Neumann type computer such as an ASICor an FPGA. The analog processing circuit includes a lamp drivingcircuit (for example, an LED driver) configured to control driving ofthe left CSL 140L and the right CSL 140R.

For example, the first lighting control unit 147 is electricallyconnected to LEDs 400 (see FIG. 9) of each of the light emittingsegments 143L and 143R. For example, when one of the six light emittingsegments 143L emits red light, the first lighting control unit 147supplies an electrical signal (for example, a PWM signal) to the red LED400 a belonging to the one light emitting segment 143L. Then, the redLED 400 a emits the red light according to the electrical signalsupplied from the first lighting control unit 147. In this way, the redlight is emitted from the light emitting segment 143L. When all the sixlight emitting segments 143L emit white light, the first lightingcontrol unit 147 supplies an electrical signal to the red LED 400 a, thegreen LED 400 b and the blue LED 400 c belonging to each light emittingsegment 143L. Then, the white light is generated by combining red lightemitted from the red LED 400 a, green light emitted from the green LED400 b and blue light emitted from the blue LED 400 c. In this way, thewhite light is emitted from all the six light emitting segments 143L.The first lighting control unit 147 can allow light of various colors tobe emitted from each light emitting segment 143L by adjusting theelectrical signal supplied to each LED 400.

In this manner, the first lighting control unit 147 can change alighting state (for example, lighting color, lighting intensity andblinking cycle) of each light emitting segment 143L by individuallycontrolling lighting of each LED 400 belonging to each light emittingsegment 143L (that is, by individually supplying the electrical signalto each LED 400).

The second lighting control unit 145 is configured to control the secondlighting unit 142. Particularly, the second lighting control unit 145 isconfigured to control the first lighting unit 144 such that the secondlighting unit 142 emits a light pattern toward the object when the firstlighting unit 144 visually presents a message to the outside of thevehicle 100.

The second lighting control unit 145 is configured to control driving ofthe second lighting unit 142, and is formed of an electronic controlunit (ECU). The electronic control unit includes a computer system (forexample, a SoC) including one or more processors and one or morememories, and an analog processing circuit including an active elementsuch as a transistor and a passive element. The processor is, forexample, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROMand a RAM. The computer system may include a non-Neumann type computersuch as an ASIC or an FPGA. The analog processing circuit includes alaser light source control circuit configured to control driving of thelaser light source of the second lighting unit 142, and a lightdeflection device control circuit configured to control driving of thelight deflection device of the second lighting unit 142.

For example, the computer system of the second lighting control unit 145specifies the light pattern to be emitted to the outside of the vehicle100 based on an instruction signal transmitted from the vehicle controlunit 103, and then transmits a signal indicating the specified lightpattern to the laser light source control circuit and the lightdeflection device control circuit. The laser light source controlcircuit generates a control signal for controlling the driving of thelaser light source based on the signal indicating the light pattern, andthen transmits the generated control signal to the laser light source.On the other hand, the light deflection device control circuit generatesa control signal for controlling the driving of the light deflectiondevice based on the signal indicating the light pattern, and transmitsthe generated control signal to the light deflection device. In thisway, the second lighting control unit 145 can control the driving of thesecond lighting unit 142.

In the present embodiment, the first lighting control unit 147 and thesecond lighting control unit 145 are provided as separate components,but the first lighting control unit 147 and the second lighting controlunit 145 may be integrally configured. In this respect, the firstlighting control unit 147 and the second lighting control unit 145 maybe configured as a single electronic control unit. The vehicle controlunit 103, the first lighting control unit 147 and the second lightingcontrol unit 145 may be configured as a single electronic control unit.

Next, an example of an operation flow of the lighting system 104 will bedescribed below with reference to FIGS. 10 to 13B. FIG. 10 is aflowchart showing the example of the operation flow of the lightingsystem 104 according to the present embodiment. FIG. 11 is a viewshowing how the vehicle 100 emits a light pattern L1 toward a pedestrianP present in vicinity of a crosswalk C when a distance D between thevehicle 100 and the pedestrian P is D1. FIG. 12 is a view showing howthe vehicle 100 emits the light pattern L1 toward the pedestrian P whenthe distance D between the vehicle 100 and the pedestrian P is D2 (<D1).FIG. 13A is a view showing the vehicle 100 and the pedestrian P stoppedbefore the crosswalk C. FIG. 13B is a view showing a lighting state ofthe left CSL 140L and the right CSL 140R in a situation shown in FIG.13A. In the following description, only the pedestrian P is present asthe object around an intersection for convenience of description.

As shown in FIGS. 10 and 11, first, the vehicle control unit 103determines whether the pedestrian P is present in the vicinity of thecrosswalk C ahead of the vehicle 100 (step S10). Particularly, thevehicle control unit 103 determines whether the pedestrian P is presentin the vicinity of the crosswalk C based on detection data indicatingsurrounding environment of the vehicle 100 acquired by the camera 6and/or the radar 7. When a determination result of step S10 is YES, theprocessing proceeds to step S12. On the other hand, when thedetermination result of step S10 is NO, the processing ends.

Next, in step S12, the vehicle control unit 103 acquires positioninformation of the pedestrian P based on the detection data acquired bythe camera 6 and/or the radar 7. Here, the position information of thepedestrian P is information on a relative position of the pedestrian Pwith respect to the vehicle 100.

Next, in step S13, the second lighting unit 142 of the lighting system104 emits the light pattern L1 toward the pedestrian P as shown in FIG.11. Particularly, the second lighting unit 142 draws the light patternL1 on a road surface ahead of the pedestrian P by emitting the laserlight onto the road surface ahead of the pedestrian P. In the presentembodiment, the light pattern L1 is a linear light pattern, but a shapeof the light pattern is not particularly limited. For example, the lightpattern may be a circular light pattern.

Specifically describing the processing in step S13, first, the vehiclecontrol unit 103 generates an instruction signal instructing emission ofthe light pattern L1, and then transmits the instruction signal and theposition information of the pedestrian P to the second lighting controlunit 145. Next, the second lighting control unit 145 controls the secondlighting unit 142 such that the light pattern L1 is drawn on the roadsurface ahead of the pedestrian P according to the instruction signalreceived from the vehicle control unit 103 and the position informationof the pedestrian P. Particularly, the light deflection device of thesecond lighting unit 142 scans the road surface ahead of the pedestrianP with the laser light emitted from the laser light source. As a result,the light pattern L1 is drawn on the road surface ahead of thepedestrian P.

The second lighting control unit 145 may determine whether the lightpattern L1 is emitted onto the road surface around the pedestrian P oris directly emitted to the pedestrian P according to a state of the roadsurface on which the vehicle 100 is traveling. For example, when theroad surface is not wet, the second lighting unit 142 may emit the lightpattern L1 onto the road surface around the pedestrian P. On the otherhand, when the road surface is wet, the second lighting unit 142 maydirectly emit the light pattern L1 to the pedestrian P (particularly,feet of the pedestrian P).

Next, in step S14, the vehicle control unit 103 determines whether thevehicle 100 has stopped before the crosswalk C based on speedinformation of the vehicle 100 acquired by the sensor 5. When thevehicle control unit 103 determines that the vehicle 100 has not stoppedbefore the crosswalk C (NO in step S14), the processing returns to stepS12. In this way, the processing from step S12 to step S14 arerepeatedly executed until a stop of the vehicle 100 is determined. Forexample, as shown in FIGS. 11 and 12, the second lighting unit 142 maycontinue to emit the light pattern L1 onto the road surface ahead of thepedestrian P until the vehicle 100 stops before the crosswalk C. In thiscase, since the relative position of the pedestrian P with respect tothe vehicle 100 (the position information of the pedestrian P) changesover time, the position information of the pedestrian P may be updatedat a predetermined cycle, and the updated position information of thepedestrian P may be transmitted to the second lighting control unit 145at the predetermined cycle.

Next, when the vehicle control unit 103 determines that the vehicle 100has stopped before the crosswalk C (YES in step S14), the light emittingsegments to be lit, among the six light emitting segments 143L of theleft CSL 140L and the six light emitting segments 143R of the right CSL140R, are sequentially changed along a traveling direction (step S15)according to a direction in which the pedestrian P crosses the crosswalkC (hereinafter, referred to as the traveling direction).

Specifically, the vehicle control unit 103 determines whether thepedestrian P is located on a left side or a right side of the vehicle100, and then specifies the traveling direction of the pedestrian P. Forexample, as shown in FIG. 13A, when the pedestrian P is located on theleft side of the vehicle 100, the vehicle control unit 103 determinesthat the traveling direction of the pedestrian P is the right directionas viewed from the vehicle 100. On the contrary, when the pedestrian Pis located on the right side of the vehicle 100, the vehicle controlunit 103 determines that the traveling direction of the pedestrian P isthe left direction as viewed from the vehicle 100.

Next, the vehicle control unit 103 generates a lighting control signalinstructing sequential lighting of the light emitting segments, andtransmits the lighting control signal to the first lighting control unit147. The first lighting control unit 147 sequentially changes the lightemitting segments to be lit, among the six light emitting segments 143Land the six light emitting segments 143R, in the traveling direction ofthe pedestrian P, based on the transmitted lighting control signal.

For example, in the situation shown in FIG. 13A, the vehicle controlunit 103 transmits, to the first lighting control unit 147, the lightingcontrol signal indicating that the light emitting segments aresequentially lit in the right direction. Then, the first lightingcontrol unit 147 sequentially changes the light emitting segments to belit in the right direction based on the transmitted lighting controlsignal. In FIG. 13B, the light emitting segment 143L located on theleftmost side, the light emitting segment 143L located fourth from aleft end of the left CSL 140L, and the light emitting segment 143Rlocated fourth from a left end of the right CSL 140R are lit. However,actually, one light emitting segment may be sequentially lit between thelight emitting segment 143 located on the leftmost side (hereinafterreferred to as a light emitting segment 143Lm) and the light emittingsegment 143R located on the rightmost side (hereinafter referred to as alight emitting segment 143Rm), or two or more light emitting segmentsmay be sequentially lit. The sequential lighting of the light emittingsegments includes not only one-by-one lighting of the light emittingsegments between the light emitting segment 143 Lm and the lightemitting segment 143 Rm, but also lighting of every other light emittingsegment (or every two or more segments).

In this way, the first lighting unit 144 including the left CSL 140L andthe right CSL 140R can visually present an guidance message urging theobject to perform a predetermined action (in this embodiment, anguidance message urging the pedestrian P to cross the crosswalk C) bysequentially lighting the light emitting segments.

Next, in step S16, the vehicle control unit 103 determines whether thepedestrian P has crossed the crosswalk C based on the detection dataacquired by the camera 6 and/or the radar 7. When determining that thepedestrian P has crossed the crosswalk C, the vehicle control unit 103allows the vehicle 100 to start (step S17). Specifically, the vehiclecontrol unit 103 transmits an accelerator control signal to theaccelerator actuator 16. Next, the accelerator actuator 16 controls theaccelerator device 17 based on the transmitted accelerator controlsignal. In this way, the vehicle 100 starts. The vehicle 100 may startbefore the pedestrian P has crossed the entire crosswalk C. On the otherhand, when a determination result of step S16 is NO, the processing instep S15 is repeatedly executed.

When the vehicle 100 starts, the first lighting control unit 147 maychange the lighting state of the left CSL 140L and the right CSL 140R inorder to present a message indicating that the vehicle 100 starts to thepedestrian P. For example, the first lighting control unit 147 may blinkall the light emitting segments 143L, 143R a predetermined number oftimes (for example, three times) in order to present the messageindicating that the vehicle 100 starts to the pedestrian P.

According to the present embodiment, the lighting state of the left CSL140L and the right CSL14OR changes by sequentially lighting the lightemitting segments to be lit, among the six light emitting segments 143Land the six light emitting segments 143R, along the traveling directionof the pedestrian P. In this way, the pedestrian P in the vicinity ofthe crosswalk C can know that the vehicle 100 recognizes the pedestrianP and can cross the crosswalk C with safe feeling by looking at a changein the lighting state of the left CSL 140L and the right CSL 140R (theguidance message guiding the pedestrian P to cross the crosswalk). As aresult, the pedestrian P is guided to cross the crosswalk C by theguidance message.

According to the present embodiment, when the first lighting unit 144visually presents the message to the outside of the vehicle 100, thesecond lighting unit 142 emits the light pattern L1 toward thepedestrian P. Therefore, the pedestrian P present outside the vehicle100 can notice presence of the guidance message visually presented bythe first lighting unit 144 by the light pattern L1 emitted from thesecond lighting unit 142 toward the pedestrian P, and can recognize thatthe guidance message is a message presented from the vehicle 100 to thepedestrian P. In this way, the lighting system 104 capable of realizingrich visual communication between the vehicle 100 and the object such asthe pedestrian P can be provided.

As shown in FIG. 14, instead of the linear light pattern L1, the secondlighting unit 142 may draw a linear light pattern L2 extending from thevehicle 100 toward the pedestrian P on the road surface. In this case,since the pedestrian P and the vehicle 100 are visually associated witheach other by the light pattern L2, the pedestrian P can clearly knowthat the vehicle 100 recognizes the pedestrian P by looking at the lightpattern L2. Therefore, the pedestrian P can easily notice the presenceof the guidance message visually presented by the first lighting unit144, and can intuitively recognize that the guidance message is themessage presented from the vehicle 100 to the pedestrian P.

In the description of the present embodiment, after the vehicle 100 hasstopped before the crosswalk C, the first lighting unit 144 presents theguidance message to the pedestrian P. In other words, after the secondlighting unit 142 emits the light pattern toward the pedestrian P, thefirst lighting unit 144 presents the guidance message to the pedestrianP. However, the present embodiment is not limited to thereto. Forexample, before the vehicle 100 stops before the crosswalk C, the firstlighting unit 144 may present the guidance message to the pedestrian P.In this respect, while the first lighting unit 144 is presenting theguidance message, the second lighting unit 142 may emit the lightpattern toward the pedestrian P. Particularly, after the first lightingunit 144 starts presenting the guidance message, the second lightingunit 142 may emit the light pattern toward the pedestrian P. The sameapplies to this case as well, the pedestrian P present outside thevehicle 100 can notice the presence of the guidance message presented bythe first lighting unit 144 by the light pattern L1 emitted from thesecond lighting unit 142 toward the pedestrian P, and can recognize thatthe guidance message is the message presented from the vehicle 100 tothe pedestrian P.

Next, a vehicle 100A equipped with a first lighting unit 144A accordingto a modification of the second embodiment will be described withreference to FIGS. 15 and 16. FIG. 15 is a view showing a stopnotification message M1 (character information) visually presented tothe pedestrian P from the first lighting unit 144A according to themodification of the second embodiment. FIG. 16 is a view showing aguidance message M2 (character information) visually presented to thepedestrian P from the first lighting unit 144A. The vehicle 100A isdifferent from the vehicle 100 according to the present embodiment inthat the first lighting unit 144A is mounted instead of the firstlighting unit 144. Hereinafter, the first lighting unit 144A will bedescribed in detail.

As shown in FIGS. 15 and 16, the first lighting unit 144A is configuredto visually present a predetermined message to outside of the vehicle100A. Particularly, the first lighting unit 144A is configured todisplay the stop notification message M1 (“Stop”) or the guidancemessage M2 (“Please cross the crosswalk”) guiding to cross the crosswalkon a windshield 120F of the vehicle 100A. In this example, messages M1,M2 are displayed on the windshield 120F as the character information,but a message may be displayed on the windshield 120F as graphicinformation.

The first lighting unit 144A may be configured as a projector devicethat projects the predetermined message onto the windshield 120F. Thefirst lighting unit 144A may draw the predetermined message on thewindshield 120F by irradiating the windshield 120F with laser light. Inthis case, the windshield 120F of the vehicle 100A is a windshield for ahead-up display (HUD), and may include a light emitting layer formed oftwo glass plates and a phosphor material provided between the two glassplates. A laser light source of the first lighting unit 144A may beconfigured to emit the laser light in a short wavelength band (forexample, a wavelength λ=350 nm to 410 nm). When the windshield 120F isirradiated with the laser light in the short wavelength band, the lightemitting layer of the windshield 120F emits light and the predeterminedmessage is displayed on the windshield 120F.

When the distance D between the vehicle 100A and the pedestrian Ppresent in vicinity of the crosswalk C is equal to or smaller than apredetermined distance Dth, the first lighting unit 144A may present thestop notification message M1 shown in FIG. 15 to the pedestrian P. Inthis case, while the first lighting unit 144A is presenting the stopnotification message M1, the second lighting unit 142 may emit the lightpattern L1 toward the pedestrian P. Particularly, after the firstlighting unit 144 starts displaying the message M1, the second lightingunit 142 may emit the light pattern L1 toward the pedestrian P. Thepedestrian P can notice presence of the stop notification message M1visually presented by the first lighting unit 144A by the light patternL1, and can recognize that the stop notification message M1 is a messagepresented from the vehicle 100 to the pedestrian P. The pedestrian P canknow that the vehicle 100 stops and can cross the crosswalk C with safefeeling by looking at the stop notification message M1.

The first lighting unit 144A may present the guidance message M2 shownin FIG. 16 to the pedestrian P after the vehicle 100A has stopped beforethe crosswalk C. In this case, the pedestrian P in the vicinity of thecrosswalk C can know that the vehicle 100A recognizes the pedestrian Pand can cross the crosswalk C with safe feeling by looking at theguidance message M2. As a result, the pedestrian P is guided to crossthe crosswalk C.

Next, a situation in which the vehicle 100A emits the light pattern L2toward the other vehicle 100C and visually presents a guidance messageM3 toward the other vehicle 100C will be described with reference toFIGS. 17 and 18. FIG. 17 is a view showing how the vehicle 100A emitsthe light pattern L2 toward the other vehicle 100C about to turn right.FIG. 18 is a view showing the guidance message M3 presented from thefirst lighting unit 144A to the other vehicle 100C.

First, the vehicle control unit 103 of the vehicle 100A detects presenceof the other vehicle 100C about to turn right in vicinity of anintersection based on detection data acquired by the camera 6 and/or theradar 7. For example, when the vehicle control unit 103 specifies that aright turn signal lamp of the other vehicle 100C is blinking based onthe detection data, the vehicle control unit 103 determines that theother vehicle 100C is a vehicle about to turn right. Next, the vehiclecontrol unit 103 acquires a position information of the other vehicle100C based on the detection data. Then, as shown in FIG. 17, the secondlighting unit 142 draws the linear light pattern L2 extending from thevehicle 100A toward the other vehicle 100C on a road surface.Particularly, the second lighting control unit 145 controls the secondlighting unit 142 such that the light pattern L2 is drawn from thevehicle 100A toward the other vehicle 100C based on an instructionsignal received from the vehicle control unit 103 and the positioninformation of the other vehicle 100C. Then, the first lighting controlunit 147 controls the first lighting unit 144A such that the firstlighting unit 144A displays the guidance message M3 (“Please turnright”) shown in FIG. 18 on the windshield 120F. Here, while the secondlighting unit 142 emits the light pattern L2, the first lighting unit144A may display the guidance message M3 on the windshield 120F.

In this way, a driver of the other vehicle 100C can notice presence ofthe guidance message M3 presented by the first lighting unit 144A by thelight pattern L2, and can intuitively recognize that the guidancemessage M3 is a message presented from the vehicle 100A to the driver.The driver of the other vehicle 100C can turn right at the intersectionwith safe feeling by looking at the guidance message M3. In this way,rich visual communication between the vehicle 100A and the other vehicle100C can be realized.

In this example, after the second lighting unit 142 emits the lightpattern L2 toward the pedestrian P, the first lighting unit 144Apresents the guidance message M3 toward the other vehicle 100C. However,the present example is not limited to thereto. For example, after thefirst lighting unit 144A starts presenting the guidance message M3, thesecond lighting unit 142 may emit the light pattern L2 toward thepedestrian P.

Third Embodiment

Next, a third embodiment of the present invention will be described withreference to the drawings. Description of members having the samereference numerals as those already described in the description of thepresent embodiment will be omitted for convenience of description.Dimensions of members shown in the drawings may be different from thoseof actual members for convenience of description.

In the description of this embodiment, a “left-right direction”, an“upper-lower direction” and a “front-rear direction” will beappropriately referred to for convenience of description. Thesedirections are relative directions set for a vehicle 200 shown in FIGS.19A and 19B. Here, the “left-right direction” is a direction including a“left direction” and a “right direction”. The “upper-lower direction” isa direction including an “upper direction” and a “lower direction”. The“front-rear direction” is a direction including a “front direction” anda “rear direction”. Although not shown in FIGS. 19A and 19B, thefront-rear direction is the direction orthogonal to the left-rightdirection and the upper-lower direction.

First, a vehicle system 202 according to the present embodiment will bedescribed below with reference to FIGS. 19A, 19B and 20. FIG. 19A is afront view of the vehicle 200 equipped with the vehicle system 202. FIG.19B is a rear view of the vehicle 200. FIG. 20 is a block diagram of thevehicle system 202. The vehicle 200 is a vehicle (an automobile) capableof traveling in an automated driving mode.

As shown in FIG. 20, the vehicle system 202 includes a vehicle controlunit 203, a vehicle lighting system 204 (hereinafter, simply referred toas a “lighting system 204”), optical communication systems 250F, 250R,the sensor 5, the camera 6 and the radar 7. The vehicle system 202further includes the HMI 8, the GPS 9, the wireless communication unit10, the storage device 11 and an in-vehicle speaker system 280. Thevehicle system 202 further includes the steering actuator 12, thesteering device 13, the brake actuator 14, the brake device 15, theaccelerator actuator 16 and the accelerator device 17.

The vehicle control unit 203 is configured to control traveling of thevehicle 200. The vehicle control unit 203 is formed of, for example, atleast one electronic control unit (ECU). The electronic control unitincludes a computer system (for example, a SoC) including one or moreprocessors and one or more memories, and an electronic circuit includingan active element such as a transistor and a passive element. Theprocessor is, for example, a CPU, an MPU, a GPU and/or a TPU. The CPUmay include a plurality of CPU cores. The GPU may include a plurality ofGPU cores. The memory includes a ROM and a RAM. The ROM may store avehicle control program. For example, the vehicle control program mayinclude an artificial intelligence (AI) program for automated driving.The AI program is a program constructed by supervised or unsupervisedmachine learning (particularly, deep learning) using a multilayer neuralnetwork. The RAM may temporarily store a vehicle control program,vehicle control data and/or surrounding environment informationindicating surrounding environment of the vehicle. The processor may beconfigured to load a program designated from various vehicle controlprograms stored in the ROM onto the RAM and to execute various types ofprocessing in cooperation with the RAM. The computer system may includea non-Neumann type computer such as an ASIC or an FPGA. Further, thecomputer system may include a combination of a Neumann type computer anda non-Neumann type computer.

The lighting system 204 includes a lighting unit 242 and a lightingcontrol unit 243. The lighting unit 242 is configured to visuallypresent a message to outside of the vehicle 200 by drawing a lightpattern on a road surface using laser light. As shown in FIGS. 19A and19B, the lighting unit 242 is disposed on a vehicle body roof 210A ofthe vehicle 200, for example.

The lighting unit 242 includes, for example, a laser light sourceconfigured to emit the laser light, a light deflection device configuredto deflect the laser light emitted from the laser light source, and anoptical system member such as a lens. The laser light source is, forexample, an RGB laser light source configured to emit red laser light,green laser light and blue laser light. The light deflection device is,for example, a MEMS mirror, a galvanometer mirror, a polygon mirror orthe like. As will be described below, the lighting unit 242 isconfigured to draw a light pattern L10 (see FIG. 22) on the road surfaceby scanning with the laser light. When the laser light source is the RGBlaser light source, the lighting unit 242 can draw the light pattern ofvarious colors on a road.

Although a single lighting unit 242 is disposed on the vehicle body roof210A in the present embodiment, the number, arrangement, shape and thelike of the lighting unit 242 are not particularly limited as long asthe lighting unit 242 can draw the light pattern on the road surface.For example, when two lighting units 242 are provided, one of the twolighting units 242 may be mounted in a left headlamp 220L and the othermay be mounted in the right headlamp 220R. When four lighting units 242are provided, one lighting unit 242 may be mounted in each of the leftheadlamp 220L, the right headlamp 220R, a left rear combination lamp230L and a right rear combination lamp 230R. Although a raster scanmethod is adopted as a drawing method of the lighting unit 242 in thedescription of the present embodiment, the present embodiment is notlimited thereto. For example, the drawing method of the lighting unit242 may be a DLP method or an LCOS method. In this case, an LED is usedas a light source instead of laser.

The lighting control unit 243 is configured to control driving of thelighting unit 242, and is formed of an electronic control unit (ECU).The electronic control unit includes a computer system (for example, anSoC) including one or more processors and one or more memories, a laserlight source control circuit (an analog processing circuit) configuredto control driving of the laser light source of the lighting unit 242,and an light deflection device control circuit (an analog processingcircuit) configured to control driving of the light deflection device ofthe lighting unit 242. The processor is, for example, a CPU, an MPU, aGPU and/or a TPU. The memory includes a ROM and a RAM. The computersystem may include a non-Neumann type computer such as an ASIC or anFPGA. In the present embodiment, the vehicle control unit 203 and thelighting control unit 243 are provided as separate components, but thevehicle control unit 203 and the lighting control unit 243 may beintegrally configured. In this respect, the lighting control unit 243and the vehicle control unit 203 may be formed of a single electroniccontrol unit.

For example, the computer system of the lighting control unit 243specifies the light pattern to be emitted to the outside of the vehicle200 based on an instruction signal transmitted from the vehicle controlunit 203, and then transmits a signal indicating the specified lightpattern to the laser light source control circuit and the lightdeflection device control circuit. The laser light source controlcircuit generates a control signal for controlling the driving of thelaser light source based on the signal indicating the light pattern, andthen transmits the generated control signal to the laser light source ofthe lighting unit 242. On the other hand, the light deflection devicecontrol circuit generates a control signal for controlling the drivingof the light deflection device based on the signal indicating the lightpattern, and transmits the generated control signal to the lightdeflection device of the lighting unit 242. In this way, the lightingcontrol unit 243 can control the driving of the lighting unit 242.

As shown in FIGS. 19A and 19B, the optical communication system 250F isdisposed on a front side of the vehicle 200. The optical communicationsystem 250F may be disposed, for example, in a bumper directly below agrille 230. The optical communication system 250R is disposed on a rearside of the vehicle 200. The optical communication system 250F may bedisposed, for example, in a bumper directly below a rear license plate240. In the following description, the optical communication systems250F, 250R may be collectively referred to simply as an opticalcommunication system 250.

Each of the optical communication systems 250F, 250R includes a lighttransmission unit 252, a light transmission control unit 253, a lightreception unit 254 and a light reception control unit 255. The lighttransmission unit 252 is configured to emit light in a wavelength bandassociated with a predetermined auditory message toward a lightreception unit 254 mounted other vehicles present outside the vehicle200. The light transmission unit 252 includes a wavelength tunable lightsource (for example, a wavelength tunable laser) configured to emitlight of various wavelengths, a light deflection device configured todeflect the light (for example, laser light) emitted from the wavelengthtunable light source, and an optical system member such as a lens. Thewavelength tunable light source is configured to emit visible light orinvisible light, and a wavelength range of light emitted from thewavelength tunable light source is not particularly limited.

The light transmission control unit 253 is configured to control drivingof the light transmission unit 252. Particularly, the light transmissioncontrol unit 253 determines the light emitted from the lighttransmission unit 252 from a plurality of different lights in differentwavelength bands, and controls the light transmission unit 252 such thatthe light transmission unit 252 emits the light toward the lightreception unit 254 mounted on other vehicles. For example, the lighttransmission control unit 253 is configured to determine the auditorymessage corresponding to the light pattern (a visual message) drawn bythe lighting unit 242, an then to determine a wavelength band Δλ1 (or acenter wavelength 2,c1) corresponding to the determined auditorymessage. The light transmission control unit 253 is configured tocontrol the light transmission unit 252 such that the light in thedetermined wavelength band Δλ1 is emitted from the light transmissionunit 252.

The light transmission control unit 253 is formed of an electroniccontrol unit (ECU). The electronic control unit may include a computersystem including one or more processors (for example, a CPU or an MPU)and one or more memories (for example, a ROM or a RAM), a laser lightsource control circuit (an analog processing circuit) configured tocontrol driving of the wavelength tunable light source of the lighttransmission unit 252, and an light deflection device control circuit(an analog processing circuit) configured to control driving of thelight deflection device of the light transmission unit 252. The memorymay store a table (a message conversion table) indicating a relationshipbetween the visual message presented by the lighting unit 242 and theauditory message, and a table (wavelength conversion table) indicating arelationship between the auditory message and the wavelength band of thelight emitted from the light transmission unit 252. In this case, thelight transmission control unit 253 may determine the auditory messagecorresponding to the visual message with reference to the messageconversion table. The light transmission control unit 253 may determinethe wavelength band of the light emitted from the light transmissionunit 252 corresponding to the auditory message with reference to thewavelength conversion table, and then control the driving of the lighttransmission unit 252 such that the light in the determined wavelengthband is emitted from the light transmission unit 252. In the presentembodiment, the vehicle control unit 203 and the light transmissioncontrol unit 253 are provided as separate components, but the vehiclecontrol unit 203 and the light transmission control unit 253 may beintegrally configured.

The light reception unit 254 is configured to receive the light (forexample, the laser light) emitted from the light transmission unit 252of other vehicles. The light reception unit 254 may be configured as,for example, an optical spectroscope configured to measure anelectromagnetic wave spectrum of the received light. The opticalspectroscope has a dispersive element (for example, a diffractiongrating or a prism) configured to disperse the received light, and aphotodetector configured to convert an optical signal into an electricalsignal. The light reception control unit 255 is configured to specifythe wavelength band of the light emitted from the light transmissionunit 252 based on a signal output from the light reception unit 254 andspecify the auditory message corresponding to the wavelength band of thespecified light. The light reception control unit 255 is configured totransmit the auditory message specified via the vehicle control unit 203to the in-vehicle speaker system 280.

The light reception control unit 255 is formed of an electronic controlunit (ECU). The electronic control unit may include a computer systemincluding one or more processors (for example, a CPU or an MPU) and oneor more memories (for example, a ROM and a RAM), and an analogprocessing circuit configured to process the electrical signal outputfrom the light reception unit 254. The memory may store a table (awavelength conversion table) indicating a relationship between thewavelength band of the light received by the light reception unit 254and the auditory message. In this respect, the relationship between thewavelength band of the light and the auditory message indicated by thewavelength conversion table stored in the memory of the light receptioncontrol unit 255 preferably matches the relationship between thewavelength band of the light and the auditory message indicated by thewavelength conversion table stored in the memory of the lighttransmission control unit 253. For example, when the wavelength band Δλ1and an auditory message A1 are associated with each other in the lighttransmission control unit 253, the wavelength band Δλ1 and the auditorymessage A1 are preferably associated with each other also in the lightreception control unit 255. The light reception control unit 255 mayspecify the auditory message corresponding to the wavelength band of thelight received by the light reception unit 254 with reference to thewavelength conversion table. In the present embodiment, the vehiclecontrol unit 203 and the light reception control unit 255 are providedas separate components, but the vehicle control unit 203 and the lightreception control unit 255 may be integrally configured.

The in-vehicle speaker system 280 includes an in-vehicle speaker controlunit 282 and an in-vehicle speaker 283. The in-vehicle speaker 283 isconfigured to output sound toward an occupant of the vehicle 200, and isdisposed at a predetermined position inside the vehicle 200. Thein-vehicle speaker 283 is, for example, a speaker having a related-artstructure. The in-vehicle speaker control unit 282 is configured tocontrol the in-vehicle speaker 283. The in-vehicle speaker control unit282 is formed of an electronic control unit (ECU). The electroniccontrol unit includes a computer system including one or more processors(for example, a CPU or an MPU) and one or more memories (for example, aROM and a RAM), and other electronic circuits (for example, an amplifiercircuit and a DA converter).

Next, an example of operation of an inter-vehicle communication systemaccording to the present embodiment will be described below withreference to FIGS. 21 and 22. FIG. 21 is a sequence diagram showing theexample of the operation of the inter-vehicle communication systemaccording to the present embodiment. FIG. 22 is a view showing a vehicle200A (a transmission side vehicle) drawing the light pattern L10 on aroad surface R10 corresponding to a parking section P10, and a vehicle200B (a reception side vehicle) traveling on a parking lot. Theinter-vehicle communication system according to the present embodimentincludes the vehicle 200A and the vehicle 200B. In the presentdescription, vehicles 200A, 200B are present in the parking lot. Thevehicles 200A, 200B are equipped with the vehicle system 202 shown inFIG. 20.

As shown in FIG. 21, in step S21, the vehicle control unit 203 of thevehicle 200A determines the parking section P10 to be parked.Specifically, the vehicle control unit 203 specifies an empty parkingsection around the vehicle 200A based on detection data indicatingsurrounding environment of the vehicle 200 acquired by the camera 6and/or the radar 7. Then, the vehicle control unit 203 determines theparking section P10 from one or more empty parking sections.

Next, as shown in FIG. 22, the lighting unit 242 of the vehicle 200Adraws the light pattern L10 on the road surface R10 corresponding to theparking section P10 by emitting laser light onto the road surface R10corresponding to the parking section P10. In this way, a visual messagecan be presented to outside of the vehicle 200A by drawing the lightpattern L10 on the road surface R10 by the lighting unit 242. That is,by visually recognizing the light pattern L10 (the visual message)emitted from the vehicle 200A, an occupant of the vehicle 200B can knowthat the vehicle 200A is scheduled to be parked in the parking sectionP10 and that the vehicle 200A is scheduled to move backward. Although arectangular light pattern L10 corresponding to an external dimension ofthe vehicle 200A is drawn as the light pattern L10 in the presentembodiment, a shape of the light pattern is not limited thereto. Forexample, the light pattern may be a linear or circular light pattern.

Specifically describing the processing in step S22, first, the vehiclecontrol unit 203 generates an instruction signal instructing the lightpattern L10, and then transmits the instruction signal and positioninformation of the parking section P10 to the lighting control unit 243.Next, the lighting control unit 243 controls the lighting unit 242 suchthat the light pattern L10 is drawn on the road surface R10 according tothe instruction signal received from the vehicle control unit 203.Particularly, the light deflection device of the lighting unit 242 scansthe road surface R10 with the laser light emitted from the laser lightsource.

Next, the vehicle control unit 203 determines whether the other vehicle(the vehicle 200B in this example) is present behind the vehicle 200Abased on the detection data acquired by the camera 6 and/or the radar 7(step S23). When a determination result of step S23 is YES, theprocessing proceeds to step S24. On the other hand, when thedetermination result of step S23 is NO, the vehicle control unit 203stands by until the other vehicle is present behind the vehicle 200A.

Next, in step S24, the vehicle control unit 203 specifies a position ofthe vehicle 200B based on the detection data acquired by the camera 6and/or the radar 7, and then transmits position information of thevehicle 200B to the light transmission control unit 253 of the vehicle200. Next, in step S25, the light transmission control unit 253 of thevehicle 200A determines an auditory message to be presented to thevehicle 200B. Specifically, the vehicle control unit 203 transmitsmessage information on the light pattern L10 (the visual message)emitted from the lighting unit 242 to the light transmission controlunit 253. Then, the light transmission control unit 253 determines theauditory message corresponding to the light pattern L10 with referenceto the message conversion table indicating the relationship between thelight pattern (the visual message) and the auditory message. An exampleof the auditory message corresponding to the light pattern L10 is that“the vehicle ahead will move backward” or “the vehicle ahead will beparked”.

Next, in step S26, the light transmission control unit 253 determines awavelength band of the light emitted toward the light reception unit 254of the vehicle 200B. Specifically, the light transmission control unit253 determines the wavelength band (a first wavelength band) of thelight emitted from the light transmission unit 252 corresponding to thedetermined auditory message with reference to the wavelength conversiontable indicating the relationship between the auditory message and thewavelength band of the light. In the wavelength conversion table, eachof a plurality of auditory messages is associated with one of aplurality of wavelength bands.

Next, in step S27, the light transmission control unit 253 controlsdriving of the light transmission unit 252 such that the light in thedetermined wavelength band (hereinafter, referred to as a “first light”)is emitted from the light transmission unit 252 toward the lightreception unit 254 of the vehicle 200B, based on the positioninformation of the vehicle 200B transmitted from the vehicle controlunit 203. In this respect, when the light reception unit 254 is mountedon a front bumper of the vehicle 200B, the light transmission unit 252emits the first light toward the front bumper of the vehicle 200B.

Next, in step S28, the light reception unit 254 of the vehicle 200Breceives the first light from the vehicle 200A. Next, the lightreception control unit 255 of the vehicle 200B specifies an auditorymessage associated with the wavelength band of the first light (stepS29). Specifically, first, the light reception control unit 255specifies the wavelength band of the first light based on an electricalsignal output from the light reception unit 254. Next, the lightreception control unit 255 specifies the auditory message correspondingto the wavelength band of the first light with reference to thewavelength conversion table indicating the relationship between thewavelength band of the first light and the auditory message. Here, whenthe auditory message corresponding to the light pattern L10 is that “thevehicle ahead will be parked”, the auditory message specified in stepS29 is also that “the front vehicle will be parked”.

Next, the in-vehicle speaker control unit 282 of the vehicle 200Boutputs the specified auditory message from the in-vehicle speaker 283(step S30). Specifically, the light reception control unit 255 transmitsinformation (sound data) on the auditory message to the in-vehiclespeaker control unit 282 via the vehicle control unit 203. Then, thein-vehicle speaker control unit 282 allows the in-vehicle speaker 283 tooutput the auditory message as audio information. In this way, theoccupant of the vehicle 200B can aurally recognize the auditory messagepresented by the vehicle 200A through the in-vehicle speaker 283.

According to the present embodiment, when the lighting unit 242 of thevehicle 200A presents the light pattern L10 toward the outside of thevehicle 200A, the first light is emitted toward the light reception unit254 mounted on the vehicle 200B. When the light reception unit 254receives the first light, the auditory message associated with thewavelength band of the first light is output from the in-vehicle speaker283 of the vehicle 200B toward the occupant of the vehicle 200B.Therefore, the occupant of the vehicle 200B can visually recognize thelight pattern L10 from the vehicle 200A, and can aurally recognize theauditory message from the vehicle 200A. That is, the occupant of thevehicle 200B can visually and aurally recognize an intention of thevehicle 200A. Therefore, the inter-vehicle communication system and thevehicle system 202 capable of realizing rich communication betweenvehicles through visual and auditory sense can be provided.

In the present embodiment, when the lighting unit 242 presents the lightpattern L10 to the outside of the vehicle 200A, the light transmissionunit 252 of the vehicle 200A emits the first light toward the lightreception unit 254 of the vehicle 200B. In this respect, preferably, thelight transmission unit 252 of the vehicle 200A emits the first lighttoward the light reception unit 254 of the vehicle 200B while thelighting unit 242 is presenting the light pattern L10 toward the outsideof the vehicle 200A. On the other hand, before the lighting unit 242presents the light pattern L10 toward the outside of the vehicle 200A,the light transmission unit 252 of the vehicle 200A may emit the firstlight toward the light reception unit 254 of the vehicle 200B.

(First Modification)

Next, a vehicle 200C equipped with a lighting unit 242C according to afirst modification of the third embodiment will be described below withreference to FIGS. 23 and 24. FIG. 23 is a view showing the vehicle 200C(a transmission side vehicle) and the vehicle 200B (the reception sidevehicle) about to leave the parking section P10. FIG. 24 is a front viewof the vehicle 200C equipped with the lighting unit 242C according tothe first modification of the third embodiment. The vehicle 200C isdifferent from the vehicle 200A according to the present embodiment inthat the lighting unit 242C is mounted instead of the lighting unit 242A(see FIGS. 19A and 19B). Hereinafter, the lighting unit 242C will bedescribed in detail.

As shown in FIGS. 23 and 24, when the vehicle 200B present ahead of thevehicle 200C is about to leave the parking section P10, the lightingunit 242C of the vehicle 200C is configured to present a message M1(“Please go first”) toward outside of the vehicle 200C. Particularly,the lighting unit 242C is configured to display the message M1 on awindshield 220 of the vehicle 200C. In this example, the message M1 ascharacter information is displayed on the windshield 220, but a messageas graphic information may be displayed on the windshield 220.

The lighting unit 242C may be configured as a projector device thatprojects a predetermined message onto the windshield. The lighting unit242C may draw the predetermined message on the windshield 220 byirradiating the windshield 220 with laser light. In this case, thewindshield 220 of the vehicle 200C is a windshield for a HUD, and mayinclude a light emitting layer formed of two glass plates and a phosphormaterial provided between the two glass plates. A laser light source ofthe lighting unit 242C may be configured to emit the laser light in ashort wavelength band (for example, a wavelength λ=350 nm to 410 nm).When the windshield 220 is irradiated with the laser light in the shortwavelength band, the light emitting layer of the windshield 220 emitslight and the predetermined message is displayed on the windshield 220.

By visually recognizing the message M1 presented by the lighting unit242C mounted on the vehicle 200C that is a rear vehicle, the occupant ofthe vehicle 200B about to leave the parking section P10 can know thatthe vehicle 200C gives way to the vehicle 200B. Then, the first lightemitted from the light transmission unit 252 of the vehicle 200C isemitted toward the light reception unit 254 mounted on the vehicle 200B.Next, when the light reception unit 254 of the vehicle 200B receives thefirst light, the auditory message (for example, “Please go first”)associated with the wavelength band of the first light is output fromthe in-vehicle speaker 283 of the vehicle 200B toward the occupant ofthe vehicle 200B. Therefore, the occupant of the vehicle 200B canvisually recognize the message M1 from the vehicle 200C, and can aurallyrecognize the auditory message from the vehicle 200C. That is, theoccupant of the vehicle 200B can visually and aurally recognize anintention of the vehicle 200C. Therefore, the inter-vehiclecommunication system and the vehicle system 202 capable of realizingrich communication between vehicles through visual and auditory sensecan be provided.

(Second Modification)

Next, a vehicle 200D equipped with lighting units 242L, 242R accordingto a second modification of the third embodiment will be described belowwith reference to FIG. 25. FIG. 25 is a front view of the vehicle 200Dequipped with the lighting units 242L, 242R according to the secondmodification. The vehicle 200D is different from the vehicle 200Aaccording to the present embodiment in that the lighting units 242L,242R are mounted instead of the lighting unit 242A (see FIGS. 19A and19B). Hereinafter, the lighting units 242L, 242R will be described indetail.

Each of the lighting units 242L, 242R includes one or more lightemitting elements such as an LED and an LD, and an optical system membersuch as a lens. The lighting units 242L, 242R are configured to presenta visual message toward outside of the vehicle 200D by changing lightingfeatures of the lighting units 242L, 242R (lighting/turning off,blinking, lighting color and the like). For example, when the vehicle200D gives way to the vehicle 200B, the lighting units 242L, 242R mayblink. In this case, by visually recognizing blinking of the lightingunits 242L, 242R mounted on the vehicle 200D that is a rear vehicle, theoccupant of the vehicle 200B about to leave the parking section P10 canknow that the vehicle 200D gives way to the vehicle 200B.

Then, the first light emitted from the light transmission unit 252 ofthe vehicle 200D is emitted toward the light reception unit 254 mountedon the vehicle 200B. Next, when the light reception unit 254 of thevehicle 200B receives the first light, the auditory message (forexample, “Please go first”) associated with the wavelength band of thefirst light is output from the in-vehicle speaker 283 of the vehicle200B toward the occupant of the vehicle 200B. Therefore, the occupant ofthe vehicle 200B can visually recognize a change in the lightingfeatures of the lighting units 242L, 242R of the vehicle 200D, and canaurally recognize the auditory message from the vehicle 200D. That is,the occupant of the vehicle 200B can visually and aurally recognize anintention of the vehicle 200D. Therefore, the inter-vehiclecommunication system and the vehicle system 202 capable of realizingrich communication between vehicles through visual and auditory sensecan be provided.

Although the embodiments of the present invention have been described,it is needless to say that the technical scope of the present inventionshould not be interpreted in a limited manner by the description of theembodiments. It is to be understood by those skilled in the art that thepresent embodiments are merely examples and that various modificationscan be made within the scope of the invention described in the claims.The technical scope of the present invention should be determined basedon the scope of the invention described in the claims and an equivalentscope thereof.

In the present embodiments, a driving mode of the vehicle is describedas including the fully automated driving mode, the advanced drivingsupport mode, the driving support mode and the manual driving mode, butthe driving mode of the vehicle should not be limited to these fourmodes. Classification of the driving mode of the vehicle may beappropriately changed according to laws or regulations related toautomated driving in each country. Similarly, definitions of the “fullyautomated driving mode”, the “advanced driving support mode” and the“driving support mode” in the description of the present embodiments aremerely examples and may be appropriately changed according to the lawsor regulations related to the automated driving in each country.

In the present embodiments, since the vehicle passes on a left side, theroad width in the right lateral region of the vehicle 1 is specified instep S3, but when the vehicle passes on a right side, a road width in aleft lateral region of the vehicle 1 is specified.

The present application is appropriately incorporates the contentsdisclosed in Japanese Patent Application (Japanese Patent ApplicationNo. 2017-254315) filed on Dec. 28, 2017, the contents disclosed inJapanese Patent Application (Japanese Patent Application No.2017-254313) filed on Dec. 28, 2017, and the contents disclosed inJapanese Patent Application (Japanese Patent Application No.2018-003693) filed on Jan. 12, 2018.

1. A vehicle lighting system provided in a vehicle, comprising: alighting unit configured to emit light toward outside of a vehicle; anda lighting control unit configured to control the lighting unit suchthat the lighting unit visually presents, to an oncoming vehicle presentahead of the vehicle, predetermined information on traveling support ofthe oncoming vehicle, based on a vehicle width of the oncoming vehicleand a road width in a lateral region of the vehicle.
 2. The vehiclelighting system according to claim 1, wherein the predeterminedinformation includes at least one of character information and graphicinformation.
 3. The vehicle lighting system according to claim 1,wherein, when at least the vehicle width is equal to or greater than theroad width, the lighting control unit is configured to control thelighting unit such that the lighting unit visually present, to theoncoming vehicle, information urging the oncoming vehicle to stop. 4.The vehicle lighting system according to claim 1, wherein thepredetermined information includes the character information, andwherein the lighting control unit is configured to determine a displaylanguage of the predetermined information based on a current position ofthe vehicle, and control the lighting unit such that the lighting unitvisually presents the predetermined information to the oncoming vehiclein the determined display language.
 5. The vehicle lighting systemaccording to claim 1, wherein the predetermined information includes thecharacter information, and wherein the lighting unit is configured tovisually present the predetermined information to the oncoming vehiclein a plurality of display languages.
 6. The vehicle lighting systemaccording to claim 1, wherein the lighting unit is configured tovisually present the predetermined information on a road surface aheadof the oncoming vehicle.
 7. The vehicle lighting system according toclaim 1, wherein the lighting control unit is configured to wirelesslytransmit the predetermined information to the oncoming vehicle.
 8. Avehicle lighting system provided in a vehicle, comprising: a firstlighting unit configured to visually present a message to outside of avehicle; a first lighting control unit configured to control the firstlighting unit; a second lighting unit configured to emit a light patterntoward an object present outside the vehicle; and a second lightingcontrol unit configured to control the second lighting unit, wherein thesecond lighting control unit is configured to control the secondlighting unit such that the second lighting unit emits the light patterntoward the object when the first lighting unit visually presents themessage to the outside of the vehicle.
 9. The vehicle lighting systemaccording to claim 8, wherein the second lighting unit is configured todraw the light pattern on a road surface around the object, and whereinthe second lighting control unit is configured to control the secondlighting unit such that the second lighting unit draws the light patternon the road surface around the object when the first lighting unitvisually presents the message to the outside of the vehicle.
 10. Thevehicle lighting system according to claim 9, wherein the light patternis a light pattern that visually associates the object with the vehicle.11. The vehicle lighting system according to claim 8, wherein themessage is a message related to an action of the vehicle or a messageurging the object to perform a predetermined action.
 12. A vehiclecomprising: the vehicle lighting system according to claim
 1. 13. Avehicle system provided in a vehicle, comprising: a lighting unitconfigured to visually present a first message to outside of a vehicle;a lighting control unit configured to control the lighting unit; a lighttransmission unit configured to emit a first light in a first wavelengthband associated with a predetermined auditory message toward a lightreception unit mounted on another vehicle present outside the vehicle;and a light transmission control unit configured to control the lighttransmission unit, wherein the light transmission control unit isconfigured to control the light transmission unit such that the lighttransmission unit emits the first light toward the light reception unitwhen the lighting unit visually presents the first message to theoutside of the vehicle.
 14. The vehicle system according to claim 13,wherein the lighting unit is configured to visually present the firstmessage to the outside of the vehicle by drawing a light pattern on aroad surface.
 15. The vehicle system according to claim 13, wherein thelighting unit is configured to display the first message on a windshieldof the vehicle.
 16. The vehicle system according to claim 13, whereinthe lighting unit is configured to visually present the first message tothe outside of the vehicle by changing a lighting feature of thelighting unit.
 17. The vehicle system according to claim 13, wherein thelight transmission control unit is configured to determine the firstlight from a plurality of different lights in different wavelength bandsbased on the first message, and control the light transmission unit suchthat the first light is emitted toward the light reception unit.
 18. Avehicle comprising: the vehicle system according to claim
 13. 19. Aninter-vehicle communication system comprising: a first vehicle; and asecond vehicle, wherein the first vehicle includes: a lighting unitconfigured to visually present a first message toward outside of thefirst vehicle; a lighting control unit configured to control thelighting unit; a light transmission unit configured to emit a firstlight in a first wavelength band toward the second vehicle; and a lighttransmission control unit configured to control the light transmissionunit, wherein the second vehicle includes: a light reception unitconfigured to receive the first light; a light reception control unitconfigured to specify a predetermined auditory message associated withthe first wavelength band from among a plurality of auditory messages;and an in-vehicle speaker configured to output the specifiedpredetermined auditory message to an occupant of the second vehicle, andwherein the light transmission control unit is configured to control thelight transmission unit such that the light transmission unit emits thefirst light toward the light reception unit when the lighting unitvisually presents the first message to the outside of the first vehicle.